TW517184B - Conveyance system - Google Patents

Abstract

A pair of rail members (11, 12) have upward wheel supporting surfaces (11A, 12A) and inward roller guide surfaces (11B, 12B), respectively. A fixed path (10) includes linear path portions (51, 52) and a branching-and-joining path portion (53). Linear-side guide members (15, 16) extending along the linear path portions and a branching-and-joining-side guide member (17) extending along the branching-and-joining path portion are provided in a branching-and-joining section. A moving body (20) is provided with wheels (21) and side guide rollers (24) supported and guided on a wheel supporting surface and a roller guide surface, respectively. A direction restricting member (25) guided by sideward guide sections (15a, 15b, 16a, 16b, 18b, 19b) of the guide members is driven by a lateral-movement unit (30) to move freely in a lateral direction between a location corresponding to the linear-side guide member and a location corresponding to the branching-and-joining-side guide member. The linear path portions and the branching-and-joining path portion may be formed with the rail apparatuses in which dust or the like is unlikely to collect. With a simple structure added to the rail apparatus arranged in the branching-and-joining section, branching and juncture can be achieved without any limitations to the layout and effective and flexible conveyance enabled.

Description

A7 B7 ____ 五、發明說明（1 ) [發明所屬之技術領域] 本發明係關於一種用來支撐搬送各種物品的搬送設 備。 [發明之背景] 以往，這種搬送設備例如有日本特開平10-111719號 公報所示之構成。此習知構成係設有可由主執道及分歧執 道支撐引導的搬送台車。各執道係由底壁、左右之側壁、 以及上壁所構成，並且在上壁的寬度方向中央具有沿著長 邊方向的開縫，而形成導管狀。而且，至少在分歧點設有 沿著主執道的引導體及沿著分歧執道的引導體。另外在搬 送台車設有與前述引導體相仿的引導構件；以及將此引導 構件分配至任何一方引導體的轉向機構。 此處之引導體設有沿著主執道之磁性材料製導執及沿 著分歧軌道之磁性材料製導執。然後，可設置磁鐵滾輪作 為引導構件，並且透過臂部等將此磁鐵滾輪轉向左右之導 執而構成。 然而，上述的習知形式必須分別在主執道及分歧軌道 個別架設磁性材料製導執，因此在製作及組裝施工等方面 非常麻煩。而且，主執道及分歧執道係呈導管狀，因此塵 埃等會聚集在其底壁上，而不易進行清除等作業，所以不 易採用在一種將潔淨空氣往下吹的淨化室等。 S而且纟可分歧•合流的配置上會有限制，例如，若 是執迢為平行架設的配置，則要使搬送台車在執道間移動 的配置不易實現。另外，使搬送台車在通行道（lane)間移動 312964 本紙張尺/f侧中顏玄標請^^^^撕公髮） 517184 A7 五、發明說明（2 ) ㈣成❹有日本特開平u_222m號公報所示之旋轉台 弋仁疋這種構造較為複雜，而且必須使兩執道間的搬 送台車暫時停止行馼。 、此外，主執道及分歧執道係呈導管狀，因此例如要形 成環形線路（loop line)時，在直線部及曲線部必須準備個別 的專用品’尤其曲線部的軌道更是耗費成本。 [發明之揭示] 本發明之第1目的在於提供一種搬送設備，其係由不 易聚集塵埃等之導執裝置形成直線狀路徑部及分歧•合流 路极部的構成，且係對於分歧•合流部位之導執裝置附加 簡單的構造，因此在配置上可實現沒有限制的分歧·合流， 以進行高效率•可撓曲的搬送。 本發明之第2目的在於提供一種搬送設備，其係由導 執裝置形成固定路徑及分歧•合流路徑的構成，而且導執 裝置不易聚集塵埃等，此外，固定路徑及分歧•合流路徑 之間的移動體之分歧•合流移動可順暢穩定地進行，同時 彎曲部可容易地形成。 為了達成前述第1目的，本發明之搬送設備係由導執 裝置；以及由此導軌裝置支撐引導而可在固定路徑上自由 移動的移動體所構成者，其特徵在於：前述導軌裝置係由 左右一對導軌體所構成，在兩導軌體分別形成有向上的車 輪支撐面及向内的滾輪引導面，前述固定路徑係由直線狀 路徑部及分歧•合流路徑部所構成’在這些路徑部所形成 的分歧•合流部位設有沿著直線狀路徑部的直線側％導 312964A7 B7 ____ V. Description of the invention (1) [Technical field to which the invention belongs] The present invention relates to a conveying device for supporting and conveying various articles. [Background of the Invention] Conventionally, such a transfer device has a structure shown in, for example, Japanese Patent Application Laid-Open No. 10-111719. This conventional structure is provided with a transport trolley which can be guided by the main road and the branch road. Each of the channels is composed of a bottom wall, left and right side walls, and an upper wall, and has a slit along the longitudinal direction at the center of the upper wall in the width direction to form a duct shape. Further, at least at a branch point, a guide body along the main road and a guide body along the branch road are provided. In addition, the transfer trolley is provided with a guide member similar to the aforementioned guide body, and a steering mechanism that distributes this guide member to any one of the guide bodies. The guide body here is provided with a magnetic material guide along the main road and a magnetic material guide along the divergent trajectory. Then, a magnet roller may be provided as a guide member, and the magnet roller may be steered to the left and right through a arm or the like. However, the above-mentioned conventional forms must be individually equipped with magnetic material guidance boards on the main track and the branch track, so it is very troublesome in terms of production, assembly and construction. In addition, since the main and branch roads are duct-like, dust and the like accumulate on the bottom wall, making it difficult to perform cleaning and other operations. Therefore, it is not easy to adopt a clean room that blows clean air. In addition, there may be differences in the configuration of confluence and confluence. For example, if the configuration is implemented in parallel, it is difficult to achieve the configuration of the moving carriage moving between the lanes. In addition, move the transport trolley between lanes 312964 paper ruler / f side Yan Xuanbiao, please ^^^^ tear off the public) 517184 A7 V. Description of the invention (2) There is a Japanese Unexamined Patent Publication No. u_222m The structure of the rotary table 弋 Ren 疋 shown is more complicated, and the transport trolley between the two roads must be temporarily stopped. In addition, since the main and branch roads are duct-shaped, for example, to form a loop line, it is necessary to prepare separate special products for the straight and curved sections, especially the track of the curved section, which is costly. [Disclosure of the Invention] The first object of the present invention is to provide a conveying device having a configuration in which a linear path portion and a branch / combination path pole portion are formed by a guide device that does not easily collect dust and the like, and a branch / combination portion is provided. Since the guide device has a simple structure, there is no limit to the divergence and confluence in the arrangement, and efficient and flexible conveyance is possible. A second object of the present invention is to provide a conveying device which is composed of a guide device that forms a fixed path and a branching / converging path, and the guide device does not easily collect dust and the like. Diversity and confluence of moving bodies can be smoothly and stably performed, and meanwhile, a bent portion can be easily formed. In order to achieve the above-mentioned first object, the conveying equipment of the present invention is composed of a guide device; and a movable body which can be freely moved on a fixed path supported and guided by the guide device, characterized in that the guide device is composed of left and right A pair of rail bodies is formed with an upward wheel support surface and an inward roller guide surface formed on the two rail bodies. The aforementioned fixed path is composed of a linear path portion and a branching / merging path portion. Formed divergences • Confluence parts are provided with linear sides along the linear path section% guide 312964

丨裝--------訂ί •線 (請先閱讀背面之注音？事項再填寫本頁) -n n n . 517184 經濟部智慧財產局員工消費合作钍印制衣 A7 B7 五、發明說明（3 ) 體；以及沿著分歧•合流路徑部的分歧•合流側引導體， 於前述移動體則設有可由前述車輪支撐面支撐引導的車 輪；可由前述滾輪引導面引導的側導輪；以及可由前述引 導體之橫向引導部引導的方向限制用構件，此方向限制用 構件係藉由左右移動機構，而可在對應於直線側引導體的 位置與對應於分歧•合流側引導體的位置之間左右自由移 根據上述本發明之構成，移動體之移動係使該車輪群 支撐由車輪支撐面支撐引導而轉動，並且使側導輪由滾輪 引導面引導，因此可受導執裝置的引導而穩定地進行。此 時，導執裝置可由左右一對導執體形成橫貫全長的間隙， 且不會有由於此間隙所形成的上下方向之貫通部而妨礙空 氣流動的情形，因此即使是使潔淨空氣往下吹的清淨室也 適合採用。 而且’要使直線狀路徑部上的移動體，不在分歧•合 流路控部側而分岐或合流而在直線狀路徑部移動時，只要 利用左右移動機構使方向限制用構件朝向分歧•合流路徑 部側之不同側移動即可。藉此可使方向限制用構件由直線 側引導體的引導部引導，且可使移動體在直線狀路徑部穩 疋地在刖移動而不會進入分歧·合流路徑部。 而要使直線狀路徑部上的移動體分歧·合流於分歧· 合流路徑部側時，只要利用左右移動機構使方向限制用構 件朝分歧•合流路徑部側移動即可。藉此可使方向限制用 構件由分歧•合流側引導鳢的引導體引導，且可使 --------^---------線- (請先閱讀背面之注意事項再填寫本頁) 木紙張尺度刺中關家鮮（CNS)A4規格⑵G x 297公爱y 3 312964 517184 翁 a A7丨 Installing -------- Ordering 线 • Line (please read the note on the back? Matters and then fill out this page) -nnn. 517184 Employees' Cooperative Consumption of Intellectual Property Bureau of the Ministry of Economic Affairs 钍 Printing garment A7 B7 V. Description of the invention (3) a body; and a branching / merging side guide body along a branching / merging path portion, wherein the moving body is provided with wheels that can be supported and guided by the wheel support surface; side guide wheels that can be guided by the roller guide surface; and A direction-limiting member that can be guided by the lateral guide portion of the guide body, and the direction-limiting member can move the left-right movement mechanism between the position corresponding to the linear-side guide body and the position corresponding to the divergent / merge-side guide body. According to the structure of the present invention described above, the movement of the moving body is such that the wheel group support is guided by the wheel support surface to rotate, and the side guide wheels are guided by the roller guide surface, so it can be guided by the guide device. Stably. At this time, the guide device can form a gap across the entire length by a pair of left and right guide bodies, and there is no situation that the air flow is obstructed by the up and down penetration portion formed by this gap. Therefore, even if clean air is blown down The clean room is also suitable. Furthermore, 'to move the moving body on the linear path portion without diverging or converging on the linear path portion, or to merge and move on the linear path portion, simply use the left and right moving mechanism to direct the direction restricting member toward the branching / converging path portion. Move to different sides. Thereby, the direction-limiting member can be guided by the guide portion of the linear side guide body, and the moving body can stably move in the linear path portion without entering the divergence and merge path portion. When the moving body on the linear path portion is diverted or merged on the divergent or merged path portion side, it is only necessary to use the left-right movement mechanism to move the direction restricting member toward the divergent or merged path portion side. This allows the direction-limiting member to be guided by the guide body of the branching / confluence side guide 鳢, and enables the -------- ^ --------- line-(Please read the note on the back first Please fill in this page again) Wood paper scale stab Zhongguanxian (CNS) A4 size ⑵G x 297 public love y 3 312964 517184 Weng a A7

經濟部智慧財產局員工消費合作社印製 五、發明說明（4 ) 朝分歧•合流路徑部順暢且確實地分歧移動。 在分歧•合流部位，於導執體之車輪支撐面上轉動的 一方車輪會越過兩導執間之間隙而在車輪支撐面上轉動， 因此車輪會掉進間隙，並且由於自重而以另一方車輪支撐 面側的車輪為中〜產生力矩’使移動體快要傾斜。此時由 橫向引導體引導方向限制用構件，可承受移動體側的力 矩，因而可一邊阻止移動體的傾斜，一邊進行方向限制作 用，於是車輪可穩定地越過間隙而不會掉進間隙。 如上所述，由於係利用不易聚集塵埃等的導執裝置形 成直線狀路徑部及分歧•合流路徑部的構成，且係對於分 歧•合流部位的導執裝置附加簡單的構造，因此可實現在 配置上沒有限制的分歧•合流，以進行高效率•無拘束的 搬送。 本發明之搬送a又備的第1實施樣態係於平行狀之一對 直線狀路徑部間配置分歧•合流路徑部，兩直線狀路徑部 的直線側引導體係相對於平行側，在外側形成直線側引導 部’同時在内側形成分歧·合流側引導部，分歧•合流側 引導體係由斷開的分歧側引導構件及合流側引導構件所構 成，並且使與分歧•合流側引導部相連的分歧側引導部及 合流側引導部朝向不同的方向，斷開部係將從分歧側引導 部移動而來的方向限制用構件引導至合流側引導部。 根據此第1實施樣態，要使移動體不分歧•合流於分 歧•合流路徑部側而在直線狀路徑部移動時，係使方向限 制用構件由直線側引導體的直線側引導部引導，因此可使 ^--------訂---------線 (請先閱讀背面之注音？事項再填寫本頁) 本紙張尺度適用中國國家標準（CNS)A4規格（210 X 297公餐） 4 312964 517184Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs 5. Description of the Invention (4) Moving toward the divergence and convergence path department smoothly and surely diverges. At the divergence and confluence part, one of the wheels that rotates on the wheel support surface of the guide body will cross the gap between the two guides and rotate on the wheel support surface. Therefore, the wheel will fall into the gap and use the other wheel due to its own weight. The wheels on the support surface are medium to generate a moment, which causes the moving body to incline. At this time, the direction-limiting member is guided by the lateral guide body, and can bear the moment on the side of the moving body. Therefore, while restraining the tilt of the moving body, the direction-limiting function can be performed, so that the wheel can stably pass through the gap without falling into the gap. As described above, the configuration of the linear path portion and the branching / converging path portion is formed by a guide device that does not easily collect dust and the like, and a simple structure is added to the guidance device at the branching / converging portion. There are no restrictions on differences and confluences for efficient and unrestrained transfers. In the first embodiment of the present invention, the transportation a is arranged in a parallel arrangement of a pair of linear path portions. The confluence path portion is formed. The linear side guide system of the two linear path portions is formed on the outer side with respect to the parallel side. Straight-side guides' meanwhile form branch and merge side guides, and the branch and merge side guide system is composed of disconnected branch-side guide members and merge-side guide members, and the branch connected to the branch and merge side guides The side guide portion and the merging side guide portion face different directions, and the disconnecting portion is guided to the merging side guide portion by a direction restricting member moved from the branch side guide portion. According to this first aspect, when the moving body does not diverge, merge at the divergence, or merge path portion side, and moves on the linear path portion, the direction restricting member is guided by the linear side guide portion of the linear side guide body. Therefore, you can make ^ -------- order --------- line (please read the note on the back? Matters before filling out this page) This paper size applies the Chinese National Standard (CNS) A4 specification ( 210 X 297 meals) 4 312964 517184

五、發明說明（5 ) 移動體在直線狀路徑部穩定地往前移動。 使一方直線狀路徑部上的移動體分歧·合流於分歧· 合流路徑部側時，係將此移動體之方向限制用構件從直線 側引導體的分歧•合流侧引導部引導至分歧側引導構件之 分歧側引導部’因而可使移動體朝分歧·合流路徑部分歧 移動。而且，使由分歧側引導部引導的方向限制用構件由 合流侧引導構件之合流側引導部引導，然後引導至直線側 引導體的分歧•合流側引導部，因此可使移動體合流移動 至另一方直線狀路徑部。 藉此’即可使平行狀之直線狀路徑部間的移動體的滑 行順暢且確實地進行，就配置來說，可實現更沒有限制的 分歧·合流。 本發明之搬送設備的第2實施樣態中，方向限制用構 件係透過支撐體設置成可左右自由移動，左右移動機構係 由驅動部；以及利用此驅動部之正反驅動而使支撐體左右 移動的驅動傳達部所構成，並且於此驅動傳達部設有傳達 路徑的接觸•斷開裝置。 根據此第2實施樣態，由於接觸•斷開裝置係利用左 右移動機構的驅動部之正反驅動，透過連接狀態之驅動傳 達部使支撐體左右移動，因此可使方向限制用構件左右移 動。如上述使方向限制用構件左右移動之後，可藉由斷開 接觸·斷開裝置來使傳達路徑開放，藉此，引導體之引導 時的方向限制用構件之左右移動不需要控制，而可與支律 體一同順暢地進行。 本纸張尺度適用中國國家標準（CNS)A4規格（210 X 297公釐） (請先閱讀背面之注意事項再填寫本頁) 訂---------線 經濟部智慧財產局員工消費合作社印製 312964 517184 A7 五、發明說明（6 ) 本發明之搬送設備的第3實施樣態係設有用來保持已 達到左右移動極限位置之支撐體的吸附機構。 根據此第3實施樣態，可利用吸附機構的吸附作用， 將左右移動的支撐體保持（限制）在左右移動極限位置。而 且’引導體之引導時的方向限制用構件之左右移動係使利 用吸附機構之吸附自動地開放，而可與支撐體一同順暢地 進行。 為了達成前述第2目的，本發明之搬送設備係由導執 裝置；以及由此導執裝置支撐引導而可在固定路徑上自由 移動的移動體所構成者，其特徵在於：前述導執裝置係由 形成間隙而配設的左右一對導執體所構成，在兩導執體分 別形成有向上的車輪支撐面及向内的滾輪引導面，在進入 對於前述固定路徑分歧•合流之分歧•合流路徑的分歧· 合流部，前述左右一對導執當中位於分歧•合流路徑側的 導執體係形成間隙而被斷開，同時從該斷開端部將分歧· 合流路徑側的導執體配設成連續狀，在前述分歧•合流部 設有沿著固定路徑的固定路徑側引導體；以及沿著分歧· 合流路徑的分歧·合流側引導體，於前述移動體則設有可 由前述車輪支撐面支撐引導的車輪；可由前滾輪引導面引 導的側導輪；以及可由前述引導體之橫向引導部引導的方 向限制用構件，此方向限制用構件係設成可藉由左右移動 機構在對應於固定路徑側引導體的位置與對應於分歧•人 流侧引導體的位置之間左右自由移動，而當方向限制用構 件在分歧·合流部受到引導體的引導時，間隙側的車輪相 U氏張尺度適用中國國家標準（CNS)A4規格⑵G χ 297 —&爱） — ° 312964 --------------裝--- (請先閱讀背面之注意事項再填寫本頁) 訂. •線 經濟部智慧財產局員工消費合作社印製 517184 經 濟 部 智 慧 財 產 局 員 工 消 費 合 作 社 印 製 312964 A7 B7 五、發明說明（7 ) 對於車輪支撐面會形成浮起之狀態。 根據上述本發明之構成，移動體之移動係使其車輪群 由車輪支撐面支撐引導而轉動，並且使側導輪由滾輪引導 面引導，因而可受導執裝置引導而穩定地進行。此時，導 執裝置可利用左右一對導軌體橫貫全長形成間隙，且不會 有由於此間隙所形成的上下方向之貫通部而妨礙空氣流動 的情形，因此即使是使潔淨空氣往下吹的淨化室也適合採 用。 再者，左右一對導執體係形成簡單又小的形狀，以在 功能上成為最小限度之所需剖面積，因而可容易地加以彎 曲來使用。藉此，彎曲路徑的導執體不需要製作專用的構 體，而可將直線用導執體彎曲後來使用，因而可使整個導 執裝置輕量化，且可大幅降低成本。 此外，使固定路徑部上的移動體不分歧於分歧•合流 路徑側而移動時，只要利用左右移動機構使方向限制用構 件朝向分歧•合流路徑側之不同側移動即可。藉此，即可 由固定路控側引導體之弓|i 4 5丨導部引導方向限制用構件，因而 可使移動體在固定路徑稃宕从分今 德疋地彺刖移動而不會進入分歧· 合流路徑。 而使移動體在固定路徑盥八吐 - k 一刀歧路徑或合流路徑之間分 歧或合流時，只要利用左右 移動機構使方向限制用構件朝 分歧•合流路徑側移動即可。 1 J 藉此 即可利用分歧•合户 側引導體之引導部弓I導方向限 限制用構件，因而可使移動艚 從固定路徑朝分歧路徑之分 動體 f ____歧移動、或移動體從合流路徑 本纸張尺度適用_國國家標準（CNS)A4^r^^^y ---------------------訂---------線 f請先閱讀背面之注音？事項再填寫本頁) 517184 A7 -----------B7_ 五、發明賴（8 ) " '~ 至固定路徑之合流移動經常順暢且確實地進行。 再者，於分歧•合流部位，在導執體之車輪支撐面上 轉動的一方車輪會跨過兩導執間之間隙而在車輪 轉動，因此車輪會掉進間隙，並且由於自重而以另二方車 輪支撐面側的車輪為中心產生向下的力矩，使移動體快要 傾斜。此時，利用分歧•合流側引導體的橫向引導部引導 方向限制用構件，可使間隙側的車輪相對於車輪支撐面形 成浮起狀態，同時承受移動體側的向下力矩，因此可一邊 阻止移動體之傾斜，一邊進行方向限制作用，於是車輪可 穩定地越過間隙而不會掉進間隙。 如上所述，由於以不易聚集塵埃等的導執裝置形成直 線狀路徑部及分歧•合流路徑部的構成，且係在分歧•合 流部位的導執裝置附加簡單的構造，因而可實現在配置上 沒有限制的分歧•合流，以進行高效率•無拘束的搬送。 本發明之搬送設備的較佳實施樣態係使間隙側之相反 側的車輪由車輪支撐面支撐，並且由引導體引導方向限制 用構件，藉此使移動體在左右方向傾斜，以使間隙側的車 輪相對於車輪支撐面成為浮起狀態。 根據此較佳實施樣態，由於係以車輪支撐面支撐間隙 側之相反側的車輪，並且由分歧•合流側引導體的橫向引 導部引導方向限制用構件，以兩點支撐引導移動體，使間 隙側的車輪相對於車輪支撐面成為浮起狀態，同時可承受 移動體側的向下力矩。 本發明之搬送設備的其他較佳實施樣態係使引導體的 (請先閱讀背面之泌意事項再填寫本頁) « ^----—, — ^----- -線· 經濟部智慧財產局員工消費合作社印製 本紙張尺度適用t國國家標準（CNS)A4規格（210 x 297公釐） 8 312964 517184 A75. Description of the invention (5) The moving body moves steadily forward in the linear path portion. When the moving body on one linear path portion is diverted or merged on the divergent or merged path portion side, the direction restricting member of the moving body is guided from the divergence of the linear guide body to the divergent side guide member. The diverging-side guide portion ′ thus allows the moving body to be divergently moved toward the diverging / merging path portion. In addition, the direction-limiting member guided by the diverging-side guide is guided by the merging-side guide of the merging-side guide member, and then guided to the diverging-merging-side guide of the linear guide, so that the moving body can be merged to another One linear path portion. In this way, the sliding of the moving body between the parallel linear path portions can be smoothly and reliably performed, and in terms of arrangement, branching and confluence can be achieved without any restrictions. In the second aspect of the conveying equipment of the present invention, the direction restricting member is provided through the support body so as to be freely movable left and right, and the left and right movement mechanism is driven by the driving part; The moving drive transmission unit is composed of a contact / disconnection device for a transmission path. According to this second aspect, the contact / disconnection device uses the forward and reverse driving of the driving part of the left-right moving mechanism, and the support is moved left and right through the connected driving transmission part, so the direction-limiting member can be moved left and right. After moving the direction-limiting member to the left and right as described above, the communication path can be opened by disconnecting the contact / disconnection device. With this, the left-right movement of the direction-limiting member during the guidance of the guide body does not need to be controlled. The rhythmic body proceeds smoothly together. This paper size applies to China National Standard (CNS) A4 specification (210 X 297 mm) (Please read the precautions on the back before filling this page) Order --------- Employees of the Intellectual Property Bureau of the Ministry of Economic Affairs Printed by the consumer cooperative 312964 517184 A7 V. Description of the invention (6) The third embodiment of the conveying device of the present invention is provided with an adsorption mechanism for holding a support body that has reached the limit position of left and right movement. According to this third aspect, it is possible to use the suction action of the suction mechanism to hold (restrict) the support that moves left and right at the left and right movement limit position. In addition, the left-right movement of the direction-limiting member during the guidance of the 'guide body' is automatically opened by the adsorption by the adsorption mechanism, and can be smoothly performed together with the support body. In order to achieve the above-mentioned second object, the conveying equipment of the present invention is composed of a guiding device; and a moving body that can be freely moved on a fixed path supported and guided by the guiding device, wherein the guiding device is It consists of a pair of left and right guides that are arranged to form a gap. The two guides are respectively formed with an upward wheel support surface and an inward roller guide surface. When entering the fixed path, the divergence, convergence, and convergence The divergence and confluence part of the route. Among the aforementioned left and right pair of guides, the guide system on the divergence and confluence path side forms a gap and is disconnected. At the same time, the guide body on the divergence and confluence path side is provided from the disconnected end. In a continuous state, a fixed-path-side guide body along a fixed path is provided in the branching / merging section; a branching-merging-side guide body along the branching / merging path is provided; and the moving body is provided with a wheel supporting surface. A support-guided wheel; a side guide wheel that can be guided by the front roller guide surface; and a direction restricting member that can be guided by the lateral guide portion of the guide body, The direction restricting member is provided to be able to move left and right freely between the position corresponding to the fixed-path-side guide and the position corresponding to the divergent / flow-side guide by the left-right moving mechanism, and the direction-limiting member is diverged and merged When the head is guided by the guide body, the U-tension scale of the wheel phase on the gap side applies the Chinese National Standard (CNS) A4 specification ⑵G χ 297 — & love) — ° 312964 ------------- -Install --- (Please read the precautions on the back before filling this page) Order. • Printed by the Consumers ’Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs 517184 Printed by the Employees’ Cooperative of the Intellectual Property Bureau of the Ministry of Economy 312964 A7 B7 V. Description of the Invention (7) The wheel support surface will be in a floating state. According to the configuration of the present invention described above, the movement of the moving body is performed by causing the wheel group to be supported and guided by the wheel support surface, and the side guide wheels are guided by the roller guide surface. At this time, the guide device can use a pair of left and right guide rail bodies to form a gap across the entire length, and there will not be any obstacle to the air flow due to the up and down penetration portion formed by this gap. Therefore, even if clean air is blown down Clean rooms are also suitable. Furthermore, the left and right guide systems are formed in a simple and small shape to minimize the required cross-sectional area in function, so they can be easily bent and used. As a result, the guide body with a curved path does not need to be made of a dedicated structure, but the straight-line guide body can be bent and then used, which can reduce the weight of the entire guide device and significantly reduce costs. In addition, when moving the moving body on the fixed path portion without branching on the branching / merging path side, the left-right moving mechanism may be used to move the direction restricting member toward a different side of the branching / merging path side. In this way, the bow of the fixed road control side guide body can be used to guide the direction-limiting member, so that the moving body can move from the current location to the current location on the fixed path without entering into divisions. · Confluence path. When the moving body is diverged or merged between the fixed path and the eight-knife divergent path or the merged path, it is only necessary to use the left-right movement mechanism to move the direction restricting member toward the divergent / converged path side. 1 J This makes it possible to use the guide member of the diverting and closing-side guide body I to limit the direction, so that the moving 艚 can be moved from the fixed path to the divergent body of the divergent path f _____, or the moving body. This paper scale applies from the confluence path. _National Standard (CNS) A4 ^ r ^^^ y --------------------- Order ------ --- Line f, please read the Zhuyin on the back? Please fill in this page again for matters) 517184 A7 ----------- B7_ V. Invention (8) " '~ Confluence movement to a fixed path is often carried out smoothly and surely. Furthermore, at the divergent and confluent part, one of the wheels that rotates on the wheel support surface of the guide body will rotate across the gap between the two guides, so the wheel will fall into the gap, and due to its own weight, the other two The wheel on the side of the square wheel support surface generates a downward moment as the center, which causes the moving body to incline. At this time, the lateral guide portion of the divergent and confluent side guide is used to guide the direction restricting member, so that the wheel on the gap side can be floated relative to the wheel supporting surface, and at the same time can bear the downward moment of the moving body side, so it can be prevented while The inclination of the moving body acts as a direction restriction, so the wheel can stably pass through the gap without falling into the gap. As described above, the configuration of the linear path portion and the divergence / convergence path portion is formed by the guide device that does not easily collect dust and the like, and the guide device attached to the divergence / confluence portion has a simple structure, so it can be implemented in configuration. Unlimited divisions and confluences for efficient and unrestrained transfers. A preferred embodiment of the conveying equipment of the present invention is such that the wheels on the opposite side of the gap side are supported by the wheel support surface, and the direction-limiting member is guided by the guide body, thereby tilting the moving body in the left-right direction to make the gap side The wheel is in a floating state with respect to the wheel supporting surface. According to this preferred embodiment, since the wheels on the opposite side of the gap side are supported by the wheel support surface, and the direction-limiting member is guided by the lateral guide portion of the diverging / combining side guide body, the moving body is supported and guided at two points, so that The wheel on the gap side is in a floating state with respect to the wheel support surface, and at the same time can withstand a downward moment on the moving body side. Another preferred embodiment of the conveying device of the present invention is the guide body (please read the secret information on the back before filling this page) «^ ----—, — ^ ----- -line · economic Printed by the Employees' Cooperative of the Ministry of Intellectual Property Bureau, the paper size is applicable to National Standard (CNS) A4 (210 x 297 mm) 8 312964 517184 A7

經濟部智慧財產局員工消費合作社印製 至少一部分形成用來使移動體在左右方向傾斜而予以承接 的加厚部。 根據此另一較佳實施樣態，由於在引導體形成加厚部 的簡單構成（對形狀下過工夫的簡單構成），因此可使移動 體在左右方向傾斜而予以承接，同時可確保承接強度。 [圖面之簡單說明] 第1圖顯示本發明之第1實施例，係搬送設備中分歧· 合流部分的斜視圖。 第2圖係該搬送設備中的一部分剖開前視圖。 第3圖係該搬送設備中主要部分的一部分剖開側視 圖。 第4圖係該搬送設備中主要部分的俯視圖。 第5圖係該搬送設備中移動體的主要部分斜視圖。 第6圖係該搬送設備中分歧·合流部位的俯視圖，（a) 顯示分歧前、（b)顯示分歧時。 第7圖係該搬送設備中分歧•合流部位的俯視圖，（a) 顯示分歧•合流時、（b)顯示合流時。 第8圖係該搬送設備之概略俯視圖。 第9圖顯示本發明之第2實施例，（a)至（c)係各種實施 形態的概略俯視圖。 第10圖顯示本發明之第3實施例，（a)至（f)係各種實 施形態的概略俯視圖。 第11圖顯示本發明之第4實施例，係搬送設備中分歧 部分的斜視圖。 --------訂---------線 (請先閱讀背面之沒意事項再填寫本頁) 本紙張尺度適用中國國家標準（CNS)A4規格（210 x 297公爱） 9 312964 517184 A7 B7 五、發明說明（10 ) 第Ϊ 2圖係該搬送設備中的一部分剖開俯視圖。 第1 3圖係該搬送設傍中主要部分的一部分剖開側視 圖 第14圖係該搬送設備中主要部分的一部分剖 開俯視 圖 第1 5圖係該搬送設備之縱剖前視圖。 第16圖係該搬送設備中分歧部分的縱剖前視圖 顯示直線前進行走時、（b)顯示分歧行走時之狀態。 第17圖係該搬送设備中移動體的主要部分斜視圖。 第1 8圖係該搬送設備中分歧·合流部位的俯視圖，（&) 顯示分歧部位、（b)顯示合流部位。 弟19圖係該搬送设備中分歧·合流部位的俯視圖，（&) 顯示分歧開始時、（b)顯示分歧中、（c)顯示分歧終了時。 第20圖顯示本發明之第5實施例，（a)至（f)係各種實 施形態的概略俯視圖。 (a) ^--- (請先閲讀背面之注意事項再填寫本頁) 訂： 經濟部智慧財產局員工消費合作社印製 [元件符號說明] 1 導執軛 1B 側板部 2 頂板樑 10、10a、10b導執裝置 11A、12A車輪支撐面 11C、12C橫向蟻溝部 1A 上板部 1C 連結部 3、4、42連結具 11、11a、12、12a 導執體 11B、12B滾輪引導面 11D、12D向下蟻溝部 15、16直線側引導體 15a、15b、16a、16b、18b、19b 橫向引導部 本紙張尺度適用中國國家標準（CNS)A4規格（210x 297公釐） 10 312964 .線 17 分歧•合流側引導^ 19 合流側引導構件 21 車輪 23 行致驅動裝置 25 方向限制用構件 27 引導桿 29 縱向銷 31 驅動部 33 凸輪滾子 35 撓帶傳動機構 37 凸輪從動件 39 拾波線圈 41 保持裝置 50 固定路徑 51 > 52直線狀路徑部 55 別路徑部 58 . 64裝卸站 61 分歧•合流路徑 61b 合流路徑 63 合流部 7〇 固定路徑側引導體 7〇b 分歧·合流側引導部 71 分歧·合流側引導體 517184 A7 _ B7 五、發明說明（U ) 15A、19A迎接部 18 分歧側引導構件 20 自走體 22 台車本體 24 側導輪 26 框架 28 支撐體 30 左右移動機構 32 驅動傳達部 34 螺旋凹槽 36 離合器 38 磁鐵體 \〇 檢測器 Π 止動體 >〇a 圓弧路徑部 分歧•合流路獲部 7 裝卸站路徑部 〇 轉向路徑部 la 分歧路徑 2 分歧部 8 升降機構 3a 固定路徑側引導部 )A 加厚部 b 分歧•合流％導部 1木纸張尺度適財關家鮮（CNS)A4 S7210 X 297 y 312964Printed by the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs. At least a part of the thickened portion is formed to receive the moving body by tilting it in the left-right direction. According to this another preferred embodiment, the simple structure of the thickened portion in the guide body (a simple structure that takes care of the shape) allows the moving body to be tilted in the left-right direction to receive it, while ensuring the receiving strength. . [Brief Description of the Drawings] Fig. 1 is a perspective view showing a diverging and converging portion of a conveying device according to a first embodiment of the present invention. Fig. 2 is a front view in which a part of the transfer equipment is cut away. Fig. 3 is a side view in which a part of the main part of the transfer equipment is cut away. FIG. 4 is a plan view of a main part of the transfer equipment. Fig. 5 is a perspective view of a main part of a moving body in the transfer equipment. Fig. 6 is a plan view of the divergence and confluence part of the transport equipment, (a) before the divergence and (b) when the divergence is shown. Fig. 7 is a plan view of the divergence / confluence part in the conveying equipment, (a) when divergence / convergence is shown, and (b) when confluence is shown. Fig. 8 is a schematic plan view of the transfer equipment. Fig. 9 shows a second embodiment of the present invention, and (a) to (c) are schematic plan views of various embodiments. Fig. 10 shows a third embodiment of the present invention, and (a) to (f) are schematic plan views of various embodiments. Fig. 11 shows a fourth embodiment of the present invention, which is a perspective view of a branched portion of a conveying device. -------- Order --------- line (please read the unintentional matter on the back before filling this page) This paper size applies to China National Standard (CNS) A4 (210 x 297 mm) Love) 9 312964 517184 A7 B7 V. Description of the invention (10) Figure Ϊ 2 is a cut-away top view of the conveying equipment. Fig. 13 is a side view of a part of the main part of the conveying device, Fig. 14 is a plan view of a part of the main part of the conveying device, and Fig. 15 is a front view of the conveying device. Fig. 16 is a longitudinal sectional front view of the divergent portion of the conveying equipment, showing the state when the vehicle is traveling straight, and (b) the state when the divergent vehicle is traveling. Fig. 17 is a perspective view of a main part of a moving body in the transfer facility. Fig. 18 is a plan view of the diverging and converging portion in the transfer device, (&) showing the diverging portion and (b) showing the converging portion. Brother 19 is a plan view of the divergence and confluence part of the transport equipment. (&Amp;) shows the beginning of the divergence, (b) shows the divergence, and (c) shows the end of the divergence. Fig. 20 shows a fifth embodiment of the present invention, and (a) to (f) are schematic plan views of various embodiments. (a) ^ --- (Please read the precautions on the back before filling out this page) Order: Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs [Description of component symbols] 1 Guide yoke 1B Side plate 2 Top plate beam 10, 10a , 10b Guide device 11A, 12A Wheel support surface 11C, 12C Lateral ant groove portion 1A Upper plate portion 1C Connection portion 3, 4, 42 Connection tool 11, 11a, 12, 12a Guide body 11B, 12B Roller guide surface 11D, 12D Straight side guides 15a, 15b, 16a, 16b, 18b, 19b of the downward ant groove portion 15, 16 Lateral guide portion This paper size applies the Chinese National Standard (CNS) A4 specification (210x297 mm) 10 312964. Line 17 differences • Confluence side guide ^ 19 Confluence side guide member 21 Wheel 23 Actuating drive device 25 Direction restricting member 27 Guide rod 29 Longitudinal pin 31 Drive portion 33 Cam roller 35 Flexible belt drive mechanism 37 Cam follower 39 Pickup coil 41 Hold Device 50 Fixed path 51 > 52 Linear path section 55 Different path section 58. 64 Loading and unloading station 61 Branching / converging path 61b Converging path 63 Converging section 70 Fixed-path-side guide body 70b Branching-converging-side guidance 71 Bifurcation and convergence side guide body 517184 A7 _ B7 V. Description of the invention (U) 15A, 19A welcoming part 18 Bifurcation side guide member 20 Self-propelled body 22 Trolley body 24 Side guide wheel 26 Frame 28 Support body 30 Left and right movement mechanism 32 Drive Transmission section 34 Spiral groove 36 Clutch 38 Magnet \ Detector Π Stopper > 〇a Arc path part divergence • Confluence path acquisition part 7 Loading station path part 〇 Steering path part la Branch path 2 Branch part 8 Lifting Mechanism 3a fixed-path-side guide) A thickened part b divergence • confluence% guide 1 wood paper scale suitable for financial and family (CNS) A4 S7210 X 297 y 312964

五、發明說明（U ) ❿ 經 濟 部 智 慧 財 產 局 消 費 合 作 社 印 製 [實施例] 以下，根據第1圖至第8 例。 固术說明本發明之第1實施 第1圖至繁s国士 11、12所構# 裝置10係由左右-對導轨體 丄丄 所構成，這4b逡舳麻！ Ί ^ # 0¾ ig μ *i 12係利用擠出成形法所 =且？材形狀’並且配設成線對稱狀(左右對稱 的車:導轨體u、12分別由其上面(上位面)形成 …： 面11A、12A，由上部且朝向内侧的面 开 =有向内的滾輪引導面11Β、12Ββ在兩導軌體1112 4別形成有朝向外側的橫向蟻溝部11C、12C;以及朝向 下侧的向下蟻溝部11D、12D。 兩導轨體11、12係保持預定間隔，然後透過複數個導 執輛1而支撐於頂板樑2侧。亦即，導執矿“在具有上板 4 1A由此上板部1A之兩端附近垂下的側板部、以及 從這些側板部1B的中間外面向外側突出的連結部1C的狀 態下’從前面觀看係一體形成門的形狀。 此導執軛1係透過可作用於兩連結部1C的連結具（螺 栓·螺帽等）3，而在頂板樑2側支撐成可自由變更高度位 置且可自由調整姿勢的狀態。而在側板部1B的下部内面 側會有兩導軌體11、12的外側面與之抵接，並且透過利用 橫向蟻溝部UC、12C的連結具4而相互連結。因此，兩 導執體11、12能以形成有預定間隙S的狀態而配設。 如上所述，即可由左右一對導執體11、12所構成的導 執裝置10形成固定路徑50。此處之固定路徑50係由例如 ^ --------^---------線 (請先閱讀背面之注意事項再填寫本頁) 本纸張尺度適用中國國家標準（CNS)A4規格（210 X 297公釐） 12 312964 5 A7V. Description of the invention (U) 印 Printed by the Consumer Affairs Agency of the Intellectual Property Agency of the Ministry of Economic Affairs [Example] Below, according to the first figure to the eighth example. Gushu description of the first implementation of the present invention. Figure 1 to Traditional Chinese Confederates 11, 12 # Device 10 is composed of left and right-pair of guide rails 丄 丄, this 4b ramie! Ί ^ # 0¾ ig μ * i 12 is an extrusion molding method = and? Material shape and are arranged in a line-symmetrical shape (the left-right symmetrical car: the guide rails u, 12 are formed by the upper surface (upper surface), respectively ...): the surfaces 11A, 12A, which are opened from the upper and inward surfaces = inward The roller guide surfaces 11B and 12Bβ are formed with lateral ant groove portions 11C and 12C facing outward on both guide rail bodies 1112 and 4 and downward ant groove portions 11D and 12D facing downward. The two guide rail bodies 11 and 12 maintain a predetermined interval. Then, it is supported on the side of the roof beam 2 through a plurality of guide cars 1. That is, the guide mine "has a side plate portion which has a top plate 4 1A and thus hangs near both ends of the upper plate portion 1A, and from these side plate portions In the state of the connecting portion 1C protruding outward from the middle surface of 1B, the shape of the door is formed integrally when viewed from the front. This guide yoke 1 is a connecting tool (bolt, nut, etc.) 3 that can act on both connecting portions 1C. 3 The side of the top plate beam 2 is supported in a state where the height position can be freely changed and the posture can be adjusted freely. On the lower inner surface side of the side plate portion 1B, the outer side surfaces of the two guide rail bodies 11 and 12 are in contact with each other and are used through The lateral ant grooves UC and 12C are connected to each other by the connecting means 4 Therefore, the two guide bodies 11 and 12 can be arranged in a state where a predetermined gap S is formed. As described above, the guide device 10 composed of the left and right guide bodies 11 and 12 can form a fixed path 50. The fixed path 50 here consists of, for example, the ^ -------- ^ --------- line (please read the precautions on the back before filling this page) This paper size applies to Chinese national standards (CNS) A4 size (210 X 297 mm) 12 312964 5 A7

五、發明說明（l3 ) 經濟部智慧財產局員工消費合作社印製 並行狀的一對直線狀路徑部5〗、52 ;以及配置於這些直線 狀路獲部51、52間的分歧•合流路徑部53所形成。此分 歧•合流路徑部5 3係由前述左右一對導執體11、1 2當中 分歧•合流路徑部5 3側的導執體11、1 2，分別使單側的 導軌體連續而形成。 亦即，於分歧•合流路徑部5 3也配設有剖面形狀與前 述導執體11、12相同的左右一對導執體ua、i2a，並且 由這些導執體11a、12a構成導軌裝置l〇a。這當中的分歧 路控方向側的導執體11 a係從形成直線狀路徑部52側的部 分，在分歧•合流路徑部5 3朝直線狀路徑部5 1側彎曲， 然後連接於形成直線狀路徑部5 1的導軌體12之切斷端 部。 而另一方導執體12a係沿著前述導執體ila而形成， 但其係從形成直線狀路徑部5 1的部分，在分歧•合流路徑 部53 .朝直線狀路徑部52側彎曲，然後連接於形成直線狀 路徑部52的導執體11之切斷端部。 由各路徑部5 1至5 3所形成的分歧•合流部位設有沿 著直線狀路徑部5 1、52的直線側引導體1 5、1 6 ;以及沿 著分歧•合流路徑部53的分歧•合流側引導體17。此處 之引導體15、16、17係配設在左右一對導執體η、12、 11a、12a之間，且配設於上方位置，而且連結於導執軛1 之上板部1A的下面側。 在前述直線側引導體1 5、16上，相對於平行側在外側 形成有直線側引導部1 5 a、1 6 a，在内側形成有分歧•合流 訂---------^ (請先閱讀背面之注意事項再填寫本頁) 本紙張尺度適用中國國家標準（CNS)A4規格（210 X 297公釐） 13 312964 517184 經 濟 部 智 慧 財 產 局 員 工 消 費 合 作 社 印 製 A7 五、發明說明（I4 ) 側引導部15b、16b。 而分歧•合流側引導體i 7係由斷開的分歧侧引導構件 1 8及合流側引導構件丨9所構成，並且使連結於分歧•合 流侧引導部15b、16b的分歧側引導部18b及合流側引導部 19b朝向不同的方向。再者，斷開部係使合流侧引導構件 19的自由端朝上側形成突出狀的迎接部19A，以將從分歧 侧引導部18b移動而來的方向限制用構件（將於後述）引導 至合流側引導部19b。 另外，沿著直線狀路徑部5丨的直線側引導體丨5也是 使其始端部分朝合流•分歧側形成突出狀的迎接部15a， 以將移動而來的方向限制用構件引導至直線側引導部 15a 〇 設置由前述導執裝置10支撐引導而可在固定路徑5〇 上自由移動的自走體（移動體之一例）2〇。此自走體2〇包 括··具有可由前述車輪支撐面11A、12A支撐引導而自由 ❿轉動之車輪21的前後—對台車本體22;設置於兩個台車 本體22之下端間的被搬送物之保持裝置41 ;以及與一方 之車輪21連動的行驶驅動裝置23等。 而在自走體20的兩個台車本體22上有可由前述滚輪 引導面11B、12B引導的前後一對側導輪24設置成可自由 旋轉狀態。在兩個台車本體22上還設有可由前述引導體 15至17之橫向引導部⑴、15b、n⑽、n別引 導的方向限制用滾輪（方向限制用構件之一例）25。此處之 方向限制用滾輪25係藉由左右移動機構3〇，而可在對肩 :氏張&度適用中國國家標準“S)A4規格⑽χ 297公i" ----------------------訂---------^ 請先閱讀背面之法音？事項再填寫本頁} 517184 A7 -------B7____ 五、發明說明（15 ) 〜〜一 * 於直線側引導體15、16的位置與對應於分歧•合流側弓I 體17的位置之間左右自由移動。 亦即’於台車本體22的上部設有左右一對框架26， 於這些框架26間則設有前後一對左右方向的引導桿27。 而且，設有可由前述引導桿27支撐引導而朝左右方向自由 移動的支撐體28,在此支撐體28的上面側有前述方向限 制用滚輪25透過縱向銷29設置成可自由旋轉。 前述左右移動機構30具有可自由正反驅動的驅動部 (驅動用馬達）31，此驅動部31係使驅動軸形成左右方向而 設置於台車本體22的上部。此外，在台車本體22的上部 設有利用前述驅動部31之正反驅動使支撐體28左右移動 的驅動傳達部3 2。 政驅tH專達部32包括；設置成可崔羞右才向輛w周圍 自由旋轉的凸輪滾子33 ;形成於此凸輪滾子33之外周面 的螺旋凹槽34;以及將前述驅動部3][之驅動軸連動連結 於凸輪滾子33的撓帶傳動機構（同步皮帶形式或鏈條形式 等）35等。該時，於驅動傳達部32設有用來進行傳達路徑 之接觸•斷開的離合器（接觸•斷開裝置之一例）36。 於前述螺旋凹槽34嵌合有前述支撐體28側所設置的 凸輪從動件37。另外，前述支撐體28係使全體或左右的 兩端部分由磁性體（導磁性體）構成，而且在兩框架26上可 與支撐體28抵接的位置，有用來吸附保持已到達左右移動 極限位置之支撐體28的磁鐵體（吸附機構之一例）38設置 成埋入狀態。 (請先閱讀背面之注意事項再填寫本頁) --------^--------•線 經濟部智慧財產局員Η消費合作社印製 衣紙張尺度適用中國國家標準（CNS)A4規格（210 X 297公爱） 15 312964 517184 經濟部智慧財產局員工消費合作社印製 A7 B7 五、發明說明（l6 ) 根據上述構成的左右移動機構30，由於驅動部31之 正反驅動，凸輪滾子33會透過撓帶傳動機構35而正反旋 轉’並且使支撐體28透過嵌合於旋轉之螺旋凹槽34的凸 輪隨動件37，由引導桿27支撐引導而朝左右方向移動， 藉此使方向限制用滾輪25透過支撐體28而左右移動。 因此，方向限制用滚輪25可在對應於直線側引導體 15、16的位置與對應於分歧•合流側引導體17的位置之 間左右自由移動。而到達左右移動極限位置的支撐體28 會因為磁鐵體38的吸附作用而保持在左右移動極限位 置。另外，離合器36會斷開，因此凸輪滾子33可自由旋 對前述自走體20供電係以無接觸供電方式進行，因此 在導執體11(1 la)、12(12a)有電線線路13、14利用向下的 蟻溝部11D而配設於導執長度方向，而且在自走體2〇的 台車本體2 2間設有拾波線圈3 9。此外，在台車本體2 2側 設有檢測器40，而在固定路徑50側的預定部位設有行駛 控制用的被檢測體（未圖示）。 在前述自走體20的台車本體22間，有前述保持裝置 4 1設置成懸吊狀。此保持裝置41係使左右及下方開放的 箱子結構形狀，並且使其上面側透過連結具42連結於前述 台車本體22。而在保持裝置41内配設有朝左右方向的移 載機構（未圖示）等。此外，在兩個台車本體22上設有朝外 側（前方及後方）突出的止動體43。 以下說明上述第1實施例之作用。 --------------^--------訂---------線 (請先閱磧背面之注t事項再填寫本頁) 本紙張尺度適用中國國家標準（CNS)A4規格（210 X 297公釐） 16 312964 517184 A7 B7 五、發明說明（Π ) 自走體20在固定路徑50之行駛係使其車輪21群由車 輪支撐面11A、12A支撐引導而轉動，並且使側導輪24由 滾輪引導面11B、12B引導，藉此受導軌裝置1〇、i〇a的 引導而進行。此時，於自走體20側係透過與電線線路Μ、 14相對向的拾波線圈39等，以非接觸供電方式進行供電。 在這種狀態下的行駛當中，例如第6a圖的實線所示，行駛 於單側之直線狀路徑部52的自走體20在快要到達分歧· 人流部位之前，由檢測器40檢測出被檢測體，然後判斷要 續往前行駛或分歧行駛，並且使方向限制用滾輪乃朝前 進方向（行敬方向）側移動。 亦即，由於根據判斷的指示信號，會使驅動部3 1正反 驅動，而且此時離合器36處於連接狀態，因此凸輪滾子 33會透過撓帶傳動機構35而正反旋轉。如此一來，支撐 體28即經過嵌合於旋轉之螺旋凹槽34的凸輪隨動件p = 由引導杯27支撐引導而朝左右方向移動，藉此使方向限制 用滾輪25透過支撐體28左右移動。 由此’方向限制用滾輪25可在對應於直線側導體 16的位置與對應於分歧•合流側引導體的位置之間左 右移動。而到達左右移動極限位置的支律體28即因為磁鐵 體38的吸附作用而保持在左右移動極限位置，此時離合哭 36即斷開。另外，在根據判斷給予指示信號時，方向限^ 用滾輪25已朝前進方向側移動的時候，此指示信號即變成 取消狀態，驅動部3 1並不會驅動。 例如’當行駛於直線狀路徑部52的自走體2〇判斷要 17 3職 請 先 閱 讀 背 面 之 注 意 事 項 再 填 寫 本 頁 訂 線 517184 經濟部智慧財產局員工消費合作社印製 A7 五、發明說明（η ) 繼績往前行駛時’方向限制用滚輪25即如第2圖及第4 圖的假想線、以及第6a圖的假想線所示朝左側移動。因 此，方向限制用滾輪25即變成由直線側引導體16之直線 側引導部16a弓丨導，於是自走體2〇即如第&圖的假想線 A所示，繼續往前行駛。 另外，當行駛於直線狀路徑部52的自走體2〇判斷要 朝分歧•合流路徑部53分歧行駛時，方向限制用滚輪25 會如第1圖、第2圖及第4圖的實線、以及第5圖、第6a 圖的實線所不朝右側移動。因此，方向限制用滾輪25即從 直線側引導體16的分歧•合流側引導部16b，被引導至分 歧·合流側引導體17之分歧側引導構件18的分歧側引導 部18b，於是自走體2〇則如第讣圖所示，朝分歧•合流 路控部53分歧行敬。 接著，由分歧側引導部18b引導的方向限制用滚輪25 在與分歧•合流側引導體17之合流側引導構件19的迎接 部1 9 A扣合而被迫拉進引導之後，會被引導至合流側引導 構件19的合流側引導部i9b。藉此，自走體2〇即如第7a 圖所不’變成在分歧•合流路徑部53上行駛。 如前所述，當方向限制用滾輪25從迎接部19A被迫 拉進引導至合流側引導部i 9b時，此方向限制用滾輪25 即與支樓體28 —同朝左側移動，如此引導即可順暢地進 行。 亦即’支撐體28雖係利用磁鐵體38的吸附作用（磁力） 而保持（限制）於右方移動極限位置，但此時離合器36會斷 核張尺度適"iTiT家標準（cnsm伐格x 297公爱)~- -------------裝--------訂---------線 (請先閱讀背面之注意事項再填寫本頁) 經濟部智慧財產局員工消費合作社印製 517184 A7 ---- B7 ----—---- 五、發明說明（19 ) 開而使凸輪滾子33成為可自由旋轉，因此由於方向限制用 滾輪25被合流側引導部19b強迫拉進引導時的拉進力量， 利用磁鐵體38的吸附會放開，同時使凸輪滾子33透過凸 輪隨動件37及螺旋凹槽34而旋轉，於是方向限制用滾輪 25即與支撐體28 —起自動地朝左側移動。 然後，由合流側引導部19b引導的方向限制用滾輪25 即被引導至直線側引導體1 5的分歧•合流側引導部丨5b， 於是自走體20會如第7b圖所示，變成在直線狀路徑部51 上合流行駛。 例如，像第6 a圖的假想線B所示，在成為合流側之 直線狀路徑部51行駛的自走體20與來自分歧•合流路經 部53之自走體20會相互控制，以避免相互碰撞等。 而在自走體20於直線狀路徑部51往前行駛的情況 下，若先使方向限制用滾輪25在分歧•合流部位前方朝右 側移動，而使自走體20順著直線側引導體15之直線側引 導部15a往前行駛，但由於此時直線側引導體15之始端部 分係形成迎接部1 5 A，因此即使不事先使方向限制用滾輪 25朝右側移動，亦可自動地從迎接部15八朝直線侧引導部 1 5 a向右側移動。 另外，當行駛於直線狀路徑部52的自走體2〇朝分歧· 合流路經部53分歧行敬時，首先如第6b圖所示，自走體 2〇之左前車輪21會越過導執體12、12a間的間隙（缺口部 分）s而轉動，然後如第7a圖所示，使左後車輪21越過導 執體12、12a間的間隙s而轉動。因此，要越過間隙s的 本紙張尺度I®用中國國家標準（CNS)A4規格⑵Q χ 297公餐] ---- -----------— --------訂--------- (請先閱讀背面之注意事項再填寫本頁) 312964 ^一" 經濟部智慧財產局員工消費合作社印製 517184 Λ 、 A7 ------------ . 07 五、發明說明（20 ) 車輪21會掉進此間隱:s，並且由於自走體2〇之自重而以 車輪支撐面11A側的車輪21為中心產生力矩，使自走體 20快要傾斜。 然而’此時，與位在間隙S之車輪21對應，且位於 右方移動極限位置的方向限制用滾輪25會由朝向間隙s 之相反側的分歧側引導部18b承接而引導，因此可承受自 走體20側之力矩。藉此，即可一邊阻止自走體2〇傾斜， 丨一邊順暢地進行分歧行駛，於是車輪21可越過間隙3而 不會掉進間隙S。 而當行駛於分歧•合流路徑部53的自走體20朝直線 狀路徑部51合流行駛時，首先，自走體2〇之右前車輪21 會越過導執體Ua、11間的間隙S而轉動，然後如第7b 圖所示，使右後車輪21越過導執體lla、u間的間隙s 而轉動。 此時，與位在間隙S之車輪21對應，且位於左方移 丨動極限位置的方向限制用滾輪25會由朝向間隙s之相反 侧的合流側引導部19b承接而引導，因此可承受自走體2〇 側之力矩。藉此，即可一邊阻止自走體2〇傾斜，一邊順暢 地進行合流行駛，於是車輪21可越過間隙s而不會掉進 間隙S。 再者’當第6a圖之假想線b所示之直線狀路獲部5 i 的自走體20在分歧•合流部位往前行駛時，首先，自走體 20之左前車輪21會越過導執體Ua、12a間的間隙s而轉 動’然後左後車輪2 1會越過導執體11 a、1 2 a間的間隙s 本紙張尺度適用中國國豕標準（CNS)A4規格（210 X 297公釐） 20 ------— 312964 --------^------------*5^ (請先閱讀背面之注意事項再填寫本頁) 517184 A7 五、發明說明（21 而轉動。 此時與位在間隙S之車輪2 1對應，且位於右方移 動極限位置的方向限制用滾輪25會由朝向間隙S之相反 側的直線側引導部15a承接而引導，因此可承受自走體2〇 側之力㉟。藉此，即可一邊阻止自走體2〇傾斜，一邊順暢 地往刖行驶’於是車輪2丨可越過間隙s而不會掉進間隙 S 〇 上述第1實施例係使直線狀路徑部52之自走體20經 由分歧•合流路徑部53朝直線狀路握部51分歧·合流， 但也可以疋如第8圖所示，作成使直線狀路徑部51之自走 體20經由分歧•合流路徑部53朝直線狀路徑部52分歧· 合流的配置。 繼之，根據第9圖、第10圖來說明本發明之第2實施 例。此處之第9a至9c圖、第10a至1〇f圖顯示本發明之 各種實施例（配置）。 第9a圖係直線狀路控部Η、52的自走體2〇可經由分 歧路徑部54朝別路徑部55分歧的形式。 第9b圖係別路徑部55的自走體2〇可經由合流路徑部 56朝直線狀路徑部5 1、52合流的形式。 第9c圖係直線狀路徑部5卜52的自走體2〇可經由分 歧路徑部54朝裝卸站路徑部57分歧，再從裝卸站路徑部 57經由合流路徑部56朝直線狀路徑部51、52合流的形 式。另外，在裝卸站路徑部57設有用來進行被搬送物之裝 卸的裝却站58。 泰纸張尺度適用中國國家標準（CNS)A4規格（21〇χ 297公釐） 312964 (請先閱讀背面之注意事頊再填寫本頁) ----訂---------線 5l7l84 經濟部智慧財產局員工消費合作社印製 A7 五、發明說明（22 ) 第l〇a圖係於橢圓環狀之固定路徑5〇的兩直線狀路徑 部5 1、52，分別有複數個裝卸站路徑部57分歧、合流的 形式。 ϋ ' 第i〇b圖係僅於橢圓環狀之固定路徑50的一方直線狀 路徑部52,有複數個（單數個）裝卸站路徑部57分歧、合流 的形式。 第！〇c圖係於橢圓環狀之固定路徑5〇的一方直線狀路 技部52(或兩直線狀路徑部51、52)’有具有端部的別路徑 部55分歧的形式。此處到達別路徑部以終端的自走體 2〇可利用升降機構（升降機）59移動至其他樓層（上層、下 層卜另外，具有端部的別路徑部55亦可設置於複數個部 位。 第圖係於橢圓環狀之固定路徑5〇的 徑部52(或兩直線狀路徑部5卜52、，女曰+ 直綠狀路 4 55分歧’而且從別路徑部55依序有單數或複數 端部的別路徑部55分歧的形式。另 _ 另外’具有端部的別路秤 4 55亦可設置於複數個部位。 ^ 第l〇e圖係於橢圓環狀之固 徑部52(或兩直線狀路徑部51、52^50的—方直線狀路 如严 )有具有端部的別技 邛55合流的形式。在此，於別路 二 yi ^ 1丨的始端，炎白甘 他樓層（上層、下層）的自走體2〇可 八 59而移動。另外，具有端部的別路徑部55 數個部位。 J ^又置於複 第l〇f圖係於橢圓環狀之固定路 —__ ϋ的—方直線狀路 &紙張尺度適用中關家標準（CNS)A4‘格（2lGx 297公Ί --------^--------- (請先閱讀背面之注意事項再填寫本頁) 11 312964" 517184 經濟部智慧財產局員工消費合作社印製 A7 — B/ 五、發明說明（23 ) 徑部52(或兩直線狀路徑部51、52)，有具有端部的別路秤 部55合流，而且於別路徑部55依序有單數或複數個具^ 端部的別路徑部55合流的形式。另外，具有端部的別路秤 部5 5亦可設置於複數個部位。 上述第10a至1 Of圖係顯示對於橢圓環狀之固定路# 5〇的一方直線狀路徑部52(或兩直線狀路徑部51、52)的配 置，但是亦可如第8圖所示，於並行之一對直線狀路徑部 51、52所構成的固定路徑5〇進行同樣之配置。 此外，如第l〇a圖所示，也可以是使轉向路徑部6〇 分歧•合流於一對直線狀路徑部5 1、52間（一個部位或複 數個部位）的配置。如此一來，即可使自走體2〇利用轉向 路徑部60轉向行駛，因而可進行捷徑行駛，以縮短作業時 間。 … 繼之，根據第11圖至第19圖來說明本發明之第3實 施例。 第11圖至第15圖中，由左右一對導執體所構 成的導執裝置10基本上係配設成橢圓環狀，因而可形成橢 圓環狀的固定路徑50。而且形成有可從前述固定路徑5〇 分歧後又合流的分歧•合流路徑6丨。在進入此分歧•合流 路徑61之分歧部62及合流部63，前述左右一對導執體 11、12當中位於分歧•合流路徑61側的導執體I]係形成 間隙s而被斷開，並且從該斷開端部將分歧•合流路徑 側的導執體11 b、1 2b配設成連續狀。 亦即，在分歧•合流路徑6 1也配設有剖面形狀與前述 --------^---------線 (請先閱讀背面之注意事項再填寫本頁) 本紙張尺度適用中國國家標準（CNS)A4規格（210 x 297公釐） 23 312964 517184 經濟部智慧財產局員工消費合作社印製 A7 B7 五、發明說明（24 ) 導執體11、12為同一形狀的左右一對導軌體Ub、i2b， 並且由這些導執體lib、12b構成導執裝置1〇b。這當中的 分歧路徑方向側的導執體12b係形成一種具有從形成固定 路徑50的部分，在分歧•合流路徑61向外側彎曲之後再 向内側彎曲，而形成與裝卸站64相對向的直線狀，然後在 向内彎曲之後，於合流部63向外侧彎曲而形成固定路徑 5〇之部分的狀態。 而另一方導執體lib係沿著前述導執體12b而形成， 但疋其兩端係連接於形成與分歧•合流路徑6丨之直線狀部 分並行之固定路徑50的導執體12之斷開端部。另外，形 成分歧•合流路徑6 1的導執體11 b、12b係以根據此分歧· 合流路徑6 1的長度，例如在與裝卸站64相對向的直線狀 部分斷開有一個部位或複數個部位的狀態而構成，然後相 互連接。 在前述分歧部6 2及合流部6 3設有沿著固定路徑5 0 的固定路徑側引導體7 0 ;以及沿著分歧•合流路徑6 1的 分歧·合流側引導體7 1。此處之引導體7 〇、7 1係配設在 左右一對導執體11、12、11 b、1 2b間，並且配設在上方位 置，而且連結於導執軛1之上板部1A的下面側。 在前述固定路控側引導體7 0上，於分歧•合流路徑 61側的相反側形成有固定路徑側引導部7〇a，同時於分 歧•合流路徑6 1侧形成有分歧•合流側引導部70b。而在 分歧·合流側引導體7 1，由其外面形成有與前述分歧•合 流側引導部70b相連的分歧•合流引導部7 1 b。 -------------裝·-------訂---------線 (請先閱讀背面之注意事項再填寫本頁) 本纸張尺度適用中國國家標準（CNS)A4規格（210 X 297公釐） 24 312964 517184 經濟部智慧財產局員工消費合作社印製 A7 _____________B7_ 五、發明說明（25 ) 在刖述自走體20的兩個台車本體22上設有可由前述 引導體70、71之橫向引導部7〇a、7〇b、71b引導的方向限 制用滾輪（方向限制用構件之一例）25。此處之方向限制用 滾輪25係藉由左右移動機構3〇，而可在對應於固定路徑 側引導體70的位置與對應於分歧•合流側引導體7ι的^立 置之間左右自由移動。而在左右移動機構3〇的螺旋凹槽 34嵌合有前述支撐體28側所設置的凸輪從動件37。 3 根據上述構成的左右移動機構3〇，由於驅動部Η之 正反驅動，凸輪滾子33會透過撓帶傳動機構35而正反旋 轉，亚且使支撐體28透過嵌合於旋轉之螺旋凹槽34的凸 輪從動件37,由引導桿27支撐引導而朝左右方向移動， 藉此使方向限制用滾輪25透過支撐體28左右移動。因此 方向限制用滾輪25可在對應於固定路徑側引導體的位 置與對應於分歧•合流側引導體7丨的位置之間左右士 動。 由移 在分歧部62及合流部63，當方向限制用滾輪u為 引導體70、71的引導時，間隙s側的車輪。相對於：鲶 支撐面11A、12A形成浮起狀態。 、^ 亦即，固定路徑50側（間隙s側的相反側）的車輪η 係由車輪支撐面11Α支撐，而且方向限制用滾輪h 固定路徑側引導體70之固定路徑側引導部7〇a引導， 自走體20會在左右方向傾斜’而使分歧·合流路徑…:二 隙S側）的車輪2丨相對於車輪支撺面UA成為浮起狀態曰。V. Description of the Invention (l3) A pair of linear path sections 5 and 52 printed in parallel by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs; and the divergence and confluence path sections arranged between these linear path acquisition sections 51 and 52 53 formation. The diverging and merging path part 53 is formed by the guide bodies 11 and 12 on the 3rd side of the diverging and merging path part 53 on the left and right pair of guide bodies 11 and 12 respectively, and the one-side guide body is formed continuously. In other words, a pair of left and right guide bodies ua and i2a having the same cross-sectional shape as the aforementioned guide bodies 11 and 12 are also arranged at the branch and merge path portion 53, and these guide bodies 11a and 12a constitute a guide rail device 1. 〇a. Among them, the guide body 11 a on the branched road control direction side is curved from the portion forming the linear path portion 52 side toward the linear path portion 51 on the branch / convergence path portion 53 and then connected to form a linear shape. The cut end portion of the rail body 12 of the path portion 51. The other guide body 12a is formed along the above-mentioned guide body ila, but it is formed from the portion forming the linear path portion 51 at the branch / convergence path portion 53. It is bent toward the linear path portion 52, and then It is connected to the cut end portion of the guide body 11 forming the linear path portion 52. The diverging and converging portions formed by the respective path portions 51 to 53 are provided with linear side guides 15 and 16 along the linear path portions 51 and 52; and the diverging and converging path portions 53 • Confluent-side guide body 17. Here, the guide bodies 15, 16, and 17 are arranged between a pair of left and right guide bodies η, 12, 11a, and 12a, and are arranged at an upper position and connected to the upper plate portion 1A of the guide yoke 1. Down side. On the linear guides 15 and 16 described above, linear guides 15 a and 16 a are formed on the outer side with respect to the parallel side, and divergences are formed on the inner side. Confluence order --------- ^ (Please read the precautions on the back before filling out this page) This paper size applies the Chinese National Standard (CNS) A4 specification (210 X 297 mm) 13 312964 517184 Printed by the Consumers ’Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs A7 V. Description of the invention (I4) The side guides 15b and 16b. The branching / merging-side guide body i 7 is composed of the branching-side guiding member 18 and the merging-side guiding member 丨 9 that are disconnected, and the branching-side guiding portion 18b and The merging-side guide portion 19b faces different directions. Further, the disconnecting portion is formed so that the free end of the confluent-side guide member 19 forms a protruding receiving portion 19A toward the upper side, and guides the direction-limiting member (to be described later) moving from the divergent-side guide portion 18b to the confluence. Side guide 19b. In addition, the linear side guide 5 along the linear path portion 5 also has a protruding receiving portion 15a formed at its starting end toward the confluence / divergence side to guide the moving direction restricting member to the linear side guide. The section 15 a 〇 is provided with a self-propelled body (an example of a moving body) 20 that is supported and guided by the aforementioned guiding device 10 and can move freely on a fixed path 50. This self-propelled body 20 includes a front-rear-to-front vehicle body 22 having wheels 21 that can be freely rotated by the aforementioned support surfaces 11A and 12A of the wheel support surface, and a body to be transported disposed between the lower ends of the two vehicle body 22 A holding device 41; and a travel drive device 23, etc., which are linked to one of the wheels 21. The two trolley bodies 22 of the self-propelled body 20 are provided with a pair of front and rear side guide wheels 24 which can be guided by the aforementioned roller guide surfaces 11B and 12B so as to be freely rotatable. The two trolley bodies 22 are also provided with direction-limiting rollers (an example of a direction-limiting member) 25 that can be guided by the lateral guides ⑴, 15b, n⑽, and n-specific guides 15 to 17 of the aforementioned guide bodies 15 to 17. Here, the direction-limiting wheel 25 is adapted to the right and left shoulders by using the left-right moving mechanism 30, and the Chinese national standard "S) A4 specification ⑽χ 297 male i" is used. -------- -------------- Order --------- ^ Please read the pronunciation on the back? Matters before filling out this page} 517184 A7 ------- B7____ 5 Description of the invention (15) ~~ 1 * Freely move left and right between the positions of the linear guides 15 and 16 and the positions corresponding to the divergent and confluent side bow I body 17. That is, 'the upper part of the trolley body 22 is provided A pair of left and right frames 26 are provided between the frames 26 with a pair of front and rear guide rods 27 in the left-right direction. A support body 28 is provided which can be supported and guided by the aforementioned guide rods 27 and can move freely in the left-right direction. On the upper side of 28, the aforementioned direction-limiting roller 25 is provided so as to be rotatable through a longitudinal pin 29. The left-right moving mechanism 30 includes a driving portion (driving motor) 31 that can be driven forward and backward freely, and the driving portion 31 is a driving shaft. It is formed in the left-right direction and is provided on the upper part of the trolley body 22. Moreover, the upper part of the trolley body 22 is provided with the drive part 31 mentioned above. The forward and reverse drive is the drive transmission unit 32 that moves the support body 28 left and right. The government drive tH special-purpose unit 32 includes a cam roller 33 that is set to rotate freely around the vehicle w, and is formed on this cam roller. A spiral groove 34 on the outer peripheral surface of the sub-33; and a flexible belt transmission mechanism (a timing belt type or a chain type) 35 which links the driving shaft of the driving section 3] [to the cam roller 33 in conjunction with this. The drive transmission unit 32 is provided with a clutch (an example of a contact / disconnection device) 36 for contacting and disconnecting the transmission path. A cam follower 37 provided on the support body 28 side is fitted into the spiral groove 34. In addition, the aforementioned support body 28 is composed of a magnetic body (magnetically permeable body) at the entire or both left and right sides, and the positions on the two frames 26 that can abut the support body 28 are used to adsorb and hold the left and right movements. The magnet body (an example of an adsorption mechanism) 38 of the support body 28 at the extreme position is set to be embedded. (Please read the precautions on the back before filling this page) -------- ^ ------ -• Member of the Intellectual Property Bureau of the Ministry of Economy The size of the clothing paper applies to the Chinese National Standard (CNS) A4 (210 X 297 public love) 15 312964 517184 Printed by the Consumers ’Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs A7 B7 V. Description of the invention (16) The left and right moving mechanism 30 constructed according to the above, Due to the forward and reverse driving of the driving portion 31, the cam roller 33 will rotate forward and backward through the flexible belt transmission mechanism 35, and the support body 28 will pass through the cam follower 37 fitted in the rotating spiral groove 34, and the guide rod The support 27 is guided to move in the left-right direction, whereby the direction-limiting roller 25 is moved through the support 28 to move left and right. Therefore, the direction restricting roller 25 can freely move left and right between a position corresponding to the linear side guides 15 and 16 and a position corresponding to the divergence / combination side guide 17. On the other hand, the support body 28 that has reached the left-right movement limit position is held at the left-right movement limit position by the attraction of the magnet body 38. In addition, the clutch 36 will be disconnected, so the cam roller 33 can rotate freely to the aforementioned self-propelled body 20. The power supply system is performed in a non-contact power supply manner. Therefore, there are electric wire lines 13 in the guide bodies 11 (1 la) and 12 (12a). And 14 are arranged in the length direction of the guide by the downward ant groove portion 11D, and a pickup coil 39 is provided between the trolley bodies 22 of the self-propelled body 20. In addition, a detector 40 is provided on the trolley body 22 side, and a subject (not shown) for driving control is provided at a predetermined position on the fixed path 50 side. Between the trolley body 22 of the self-propelled body 20, the holding device 41 is provided in a suspended shape. This holding device 41 has a box structure shape that is open to the left and right and the lower side, and the upper surface side thereof is connected to the trolley body 22 through a connecting tool 42. In the holding device 41, a transfer mechanism (not shown) and the like in the left-right direction are arranged. In addition, the two bogie bodies 22 are provided with stoppers 43 that protrude outward (front and rear). The operation of the first embodiment will be described below. -------------- ^ -------- Order --------- line (please read the note t on the back of the book before filling this page) The paper size applies the Chinese National Standard (CNS) A4 specification (210 X 297 mm) 16 312964 517184 A7 B7 V. Description of the invention (Π) The self-propelled body 20 travels on a fixed path 50 with its wheels 21 group supported by the wheel. 11A and 12A support and guide and rotate, and the side guide wheels 24 are guided by the roller guide surfaces 11B and 12B, thereby being guided by the guide rail devices 10 and 10a. At this time, the self-propelled body 20 is powered by a non-contact power supply system through a pickup coil 39 and the like facing the electric wire lines M and 14. During driving in this state, for example, as shown by the solid line in FIG. 6a, the self-propelled body 20 traveling on the one-sided linear path portion 52 is detected by the detector 40 immediately before reaching the divergent and crowded area. The test body then judges whether to continue to drive forward or diverge, and moves the direction-limiting wheel toward the forward direction (Yingjing direction). That is, because the driving section 31 is driven forward and backward based on the determined instruction signal, and the clutch 36 is in the connected state at this time, the cam roller 33 rotates forward and backward through the flexible belt transmission mechanism 35. In this way, the support body 28 passes through the cam follower fitted in the rotating spiral groove 34 p = is supported and guided by the guide cup 27 and moves in the left-right direction, thereby allowing the direction restricting roller 25 to pass through the support body 28 mobile. Thereby, the 'direction limiting roller 25' can be moved leftward and rightward between a position corresponding to the linear side conductor 16 and a position corresponding to the branching / merging side guide. The rhythmic body 28, which has reached the left-right movement limit position, is maintained at the left-right movement limit position by the adsorption of the magnet body 38, and at this time, the clutch 36 is disconnected. In addition, when an instruction signal is given based on the judgment, when the direction-limiting wheel 25 has moved toward the forward direction side, the instruction signal is canceled, and the driving unit 31 does not drive. For example, 'When traveling on the linear path section 52, the self-propelled body 20 is judged to be 17 3 positions, please read the precautions on the back before filling in this page. (Η) When driving forward, the 'direction-limiting wheel 25 moves to the left as shown by the imaginary lines in FIGS. 2 and 4 and the imaginary line in FIG. 6 a. Therefore, the direction-limiting roller 25 becomes guided by the linear side guide 16a of the linear side guide 16, and the self-propelled body 20 continues to move forward as shown by the virtual line A in Fig. &Amp; In addition, when the self-propelled body 20 traveling on the linear path portion 52 judges that it is going to diverge toward the divergence / convergence path portion 53, the direction-limiting wheel 25 will be as shown by the solid lines in FIGS. 1, 2, and 4. The solid lines shown in Figures 5 and 6a do not move to the right. Therefore, the direction-limiting roller 25 is guided from the divergent-merge-side guide portion 16b of the linear-side guide body 16 to the divergent-side guide portion 18b of the divergent-side guide member 18 of the divergent-merge-side guide body 17 and is self-propelled. At 20, as shown in the second figure, the branch and the branch control section 53 branched out. Next, the direction-limiting roller 25 guided by the branch-side guide portion 18 b is pulled into the guide portion 19 A of the junction-side guide member 19 of the branch / combination-side guide body 17 and is forced into the guide, and is then guided to The merging-side guide portion i9b of the merging-side guide member 19. As a result, the self-propelled body 20, as shown in FIG. 7a, becomes traveling on the branching / merging path section 53. As described above, when the direction-limiting roller 25 is forced to be pulled in from the receiving portion 19A and guided to the confluence-side guide portion i 9b, the direction-limiting roller 25 is moved to the left side with the branch body 28, and thus guided. Goes smoothly. That is, although the support 28 is held (limited) to the right limit position by the adsorption (magnetic force) of the magnet 38, the clutch 36 will be broken at this time. x 297 public love) ~-------------- install -------- order --------- line (please read the precautions on the back before filling (This page) Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs 517184 A7 ---- B7 ------------ V. Description of the invention (19) The cam roller 33 becomes freely rotatable. The direction restricting roller 25 is forcibly pulled by the merging side guide portion 19b when the pull-in force is guided by the magnet body 38, and the cam roller 33 is rotated through the cam follower 37 and the spiral groove 34. Then, the direction restricting roller 25 automatically moves to the left side together with the supporting body 28. Then, the direction-limiting roller 25 guided by the merging-side guide portion 19b is guided to the divergence and merging-side guide portion 5b of the linear guide 15, and the self-propelled body 20 becomes as shown in FIG. 7b. The linear path portion 51 runs confluently. For example, as shown by the imaginary line B in Fig. 6a, the self-propelled body 20 traveling on the linear path portion 51 that becomes the confluence side and the self-propelled body 20 from the divergent and confluent passage portion 53 are controlled to each other to avoid Collide with each other, etc. On the other hand, when the self-propelled body 20 travels forward on the linear path portion 51, if the direction-limiting roller 25 is moved to the right in front of the divergence / confluence part, the self-propelled body 20 is guided along the linear side guide body 15 The straight-side guide portion 15a runs forward, but at this time, the starting portion of the straight-side guide body 15 forms a receiving portion 15A. Therefore, the direction-controlling roller 25 can be automatically moved from the receiving area without moving the direction-limiting roller 25 to the right in advance. The portion 15 is moved to the right side of the linear side guide portion 1 a. In addition, when the self-propelled body 20 traveling on the linear path portion 52 diverges and diverges, the first front wheel 21 of the self-propelled body 20 will pass the guide as shown in FIG. 6b. The gap (notch portion) s between the bodies 12, 12a is rotated, and then as shown in FIG. 7a, the left rear wheel 21 is rotated beyond the gap s between the guide bodies 12, 12a. Therefore, the paper size I® to cross the gap s uses the Chinese National Standard (CNS) A4 specification ⑵Q χ 297 meals] ---- ------------- ------- -Order --------- (Please read the precautions on the back before filling out this page) 312964 ^ 一 " Printed by the Intellectual Property Bureau Employee Consumer Cooperative of the Ministry of Economic Affairs 517184 Λ 、 A7 ------- -----. 07 V. Description of the invention (20) The wheel 21 will fall into the recess: s, and due to the weight of the self-propelled body 20, a moment will be generated around the wheel 21 on the wheel support surface 11A, so that the The walking body 20 is about to tilt. However, at this time, the direction-limiting roller 25 corresponding to the wheel 21 located in the gap S and located at the rightward movement limit position will be guided by the diverging-side guide portion 18b facing the opposite side of the gap s, and therefore can withstand the Moment of the traveling body 20 side. Thereby, while the self-propelled body 20 can be prevented from being inclined, the branching can be smoothly performed, so that the wheel 21 can pass through the gap 3 without falling into the gap S. On the other hand, when the self-propelled body 20 traveling on the divergence / convergence path portion 53 merges and travels toward the linear path portion 51, first, the front right wheel 21 of the self-propelled body 20 rotates across the gap S between the guide bodies Ua and 11 Then, as shown in FIG. 7b, the right rear wheel 21 is caused to rotate across the gap s between the guide bodies 11a and u. At this time, the direction-limiting wheel 25 corresponding to the wheel 21 located in the gap S and located at the left-hand movement limit position will be guided by the merging side guide portion 19b facing the opposite side of the gap s, and thus can withstand self-reliance. Moment on the 20th side of the walking body. Thereby, the self-propelled body 20 can be prevented from inclining, and the merged running can be smoothly performed, so that the wheel 21 can pass through the gap s without falling into the gap S. Furthermore, when the self-propelled body 20 of the linear catch portion 5 i shown by the imaginary line b in FIG. 6a is traveling forward at the divergent and confluent part, first, the left front wheel 21 of the self-propelled body 20 will pass over the guide. The gap s between the bodies Ua and 12a is turned and then the left rear wheel 21 will pass the gap s between the guide bodies 11 a and 1 2 a. This paper size applies the Chinese National Standard (CNS) A4 (210 X 297 mm) 20) 20 -------- 312964 -------- ^ ------------ * 5 ^ (Please read the precautions on the back before filling this page) 517184 A7 V. Description of the invention (21 and rotate. At this time, the direction-limiting roller 25 corresponding to the wheel 21 in the gap S and located at the right movement limit position will be received by the linear side guide 15a facing the opposite side of the gap S. And guidance, so it can withstand the force of the 20th side of the self-propelled body. This can prevent the self-propelled body 20 from tilting and drive smoothly toward the side while preventing the self-propelled body 20 from tilting, so the wheel 2 can cross the gap s without falling into Gap S 〇 In the first embodiment, the self-propelled body 20 of the linear path portion 52 is branched and merged toward the linear road grip portion 51 via the branching / merging path portion 53, but it may be疋 As shown in FIG. 8, an arrangement is made in which the self-propelled body 20 of the linear path portion 51 diverges and merges with the linear path portion 52 via the branching / merging path portion 53. Then, based on FIGS. 9 and 10, The second embodiment of the present invention will be described. Figures 9a to 9c and Figures 10a to 10f here show various embodiments (configurations) of the present invention. Figure 9a shows the linear road control units Η, 52. The self-propelled body 20 can diverge toward the other path portion 55 via the branch path portion 54. Fig. 9b shows the self-propelled body 20 of the different path portion 55 can merge to the linear path portions 51 and 52 via the merge path portion 56. Fig. 9c shows the self-propelled body 20 of the linear path section 5 and 52, which can be diverted toward the loading / unloading station path section 57 via the branching path section 54, and then from the loading / unloading station path section 57 via the merge path section 56 toward the linear path. The unit 51 and 52 are combined. In addition, the loading station path portion 57 is provided with a loading station 58 for loading and unloading the conveyed material. Thai paper standards are applicable to the Chinese National Standard (CNS) A4 specification (21 × χ297). Li) 312964 (please read the notes on the back first, and then fill out this page) ---- Order --------- line 5l7l 84 Printed by the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs A7 V. Description of the invention (22) Figure 10a is the two linear path parts 51 and 52 on the elliptical ring-shaped fixed path 50, each with a plurality of loading and unloading. The station path section 57 is divided and merged. Ϋ 'Figure iOb is a linear path section 52 only on one side of the elliptical ring-shaped fixed path 50. There are a plurality of (odd) loading and unloading station path sections 57 branched and merged. form. Number! The ○ c diagram is a form in which one linear path section 52 (or two linear path sections 51, 52) 'of an elliptical ring-shaped fixed path 50 has a branch path section 55 having an end portion. Here, the self-propelled body 20 that has reached the end of the other path section can be moved to other floors (upper and lower floors) by using a lifting mechanism (elevator) 59. In addition, the other path section 55 having an end portion can also be provided at a plurality of locations. The diagram is based on the diameter part 52 of the elliptical ring-shaped fixed path 50 (or two straight path parts 5 and 52, and the female + straight green path 4 55 divergence ', and there are singular or plural numbers in order from other path parts 55 Forms where the other-path portion 55 at the end diverges. In addition, _ In addition, the other-path scale 4 55 with an end portion can also be installed at a plurality of locations. ^ Figure 10e is shown in the elliptical ring-shaped solid diameter portion 52 (or The two linear path sections 51, 52 ^ 50-the square linear road is strict) has the form of the confluence of the special technique 55 with an end. Here, at the beginning of the second road yi ^ 1 丨, Yan Baiganta The self-propelled body 20 on the floor (upper floor, lower floor) can be moved at 859. In addition, there are 55 parts of the other path part with an end. J ^ is placed in the complex l0f figure, which is fixed in an elliptical ring. Road —__ ϋ 的 —Square straight road & paper scale applies to Zhongguanjia Standard (CNS) A4 'grid (2lGx 297 meters) -------- ^ --------- (Please read the notes on the back before filling out this page) 11 312964 " 517184 Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs A7 — B / V. Description of Invention (23) Path 52 (Or both linear path portions 51 and 52) have a form in which the other-path scale portion 55 having an end portion merges, and the other-path portion 55 has a singular or plural number of other-path portion 55 having an end portion in order. In addition, the other-way scale section 5 5 having an end portion may be provided at a plurality of locations. The above-mentioned 10a to 1 Of diagrams show one linear path portion 52 (or two straight lines) for the elliptical ring-shaped fixed path # 50. Arrangement of the linear path portions 51, 52), but as shown in FIG. 8, the fixed paths 50 formed by the linear path portions 51 and 52 may be arranged in the same way in parallel. As shown in the figure a, the steering path portion 60 may be branched and merged between a pair of linear path portions 51 and 52 (one or a plurality of locations). In this way, the self-propelled body can be made 20. The steering path unit 60 is used to steer and drive, so that shortcut driving can be performed to reduce the work time. Next, a third embodiment of the present invention will be described with reference to Fig. 11 to Fig. 19. In Figs. 11 to 15, a guide device 10 composed of a pair of left and right guide bodies is basically arranged. The elliptical ring shape can form an elliptical ring-shaped fixed path 50. Furthermore, a branching / converging path 6 which can be merged from the fixed path 50 and then merged is formed. The branching section 62 and the branching / converging path 61 entering the branching path 61 and Confluence section 63, the guide body I on the branching / converging path 61 side of the pair of left and right guide bodies 11, 12] is disconnected by forming a gap s, and the branching / converging path side is opened from the disconnected end. The guide bodies 11 b and 12 b are arranged continuously. That is, a branch shape and a merge path 6 1 are also provided with a cross-sectional shape and the aforementioned -------- ^ --------- line (please read the precautions on the back before filling in this page) This paper size applies the Chinese National Standard (CNS) A4 specification (210 x 297 mm) 23 312964 517184 Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs A7 B7 V. Description of the invention (24) The guide bodies 11 and 12 are the same shape A pair of left and right guide rail bodies Ub, i2b, and these guide bodies lib, 12b constitute a guide device 10b. The guide body 12b on the divergent path direction side has a portion from which the fixed path 50 is formed. The divergent / convergent path 61 is curved outward and then curved inward to form a straight line facing the loading and unloading station 64. Then, after bending inward, the merging portion 63 is bent outward to form a part of the fixed path 50. The other guide body lib is formed along the aforementioned guide body 12b, but its two ends are connected to the break of the guide body 12 forming a fixed path 50 parallel to the linear portion of the branching / converging path 6 丨. Beginning. In addition, the guide bodies 11 b and 12 b forming the divergent / merge path 61 are formed in accordance with the length of the divergent / merge path 61, for example, there is a single part or a plurality of parts that are cut off in a straight portion facing the loading / unloading station 64. The state of the parts is formed and then connected to each other. The branched portion 62 and the merged portion 63 are provided with a fixed-path-side guide body 70 along a fixed path 50 and a branched-merge-side guide body 71 along the branched-merge path 61. The guide bodies 70, 71 here are arranged between a pair of left and right guide bodies 11, 12, 11b, 12b, and are arranged at an upper position, and are connected to the upper plate portion 1A of the guide yoke 1. The lower side. On the fixed road-control-side guide body 70, a fixed-path-side guide portion 70a is formed on the opposite side of the branch-convergence path 61 side, and a branch-convergence-side guide portion is formed on the branch-convergence path 61 side. 70b. On the branch and merge side guide body 71, a branch and merge guide portion 71b connected to the branch and merge side guide portion 70b is formed on the outside. ------------- Installation ------- Order --------- Line (Please read the precautions on the back before filling this page) This paper size Applicable to China National Standard (CNS) A4 (210 X 297 mm) 24 312964 517184 Printed by the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs A7 _____________ B7_ V. Description of the invention (25) The two trolley bodies described in the self-propelled body 20 22 is provided with a direction-limiting roller (an example of a direction-limiting member) 25 that can be guided by the lateral guide portions 70a, 70b, and 71b of the guide bodies 70 and 71. Here, the direction restricting roller 25 is capable of freely moving left and right between a position corresponding to the fixed-path-side guide 70 and a position corresponding to the divergent-merge-side guide 7 by the left-right moving mechanism 30. A cam follower 37 provided on the support body 28 side is fitted into the spiral groove 34 of the left-right moving mechanism 30. 3 According to the left-right movement mechanism 3 configured as described above, the cam roller 33 rotates forward and backward through the flexible belt transmission mechanism 35 due to the forward and reverse driving of the driving unit ，, and the support body 28 is inserted into the rotating spiral recess and fitted. The cam follower 37 of the groove 34 is supported and guided by the guide rod 27 and moves in the left-right direction, thereby moving the direction-limiting roller 25 through the support body 28 left-right. Therefore, the direction-limiting roller 25 can move left and right between a position corresponding to the fixed-path-side guide and a position corresponding to the divergence / combination-side guide 7. By moving to the branching portion 62 and the merging portion 63, when the direction limiting roller u is guided by the guide bodies 70, 71, the wheels on the gap s side. Relative to: 鲶 The support surfaces 11A, 12A are in a floating state. That is, the wheels η on the fixed path 50 side (opposite to the gap s side) are supported by the wheel support surface 11A, and the direction-limiting roller h is guided by the fixed path side guide portion 70a of the fixed path side guide 70. The self-propelled body 20 will incline in the left-right direction, so that the diverging and converging path ...: the two-gap S side) of the wheel 2 丨 will be in a floating state with respect to the wheel support surface UA.

因此，藉由使例如固定路徑側引導體7〇 W 〜主少一部 --------訂—--------線 (請先閱讀背面之注意事項再填寫本頁) 本纸張尺度適用中國國家標準(CNS)A4規格（210 X 297公髮） 25 312964 經濟部智慧財產局員工消費合作社印製 517184 A7 ------ -_B7 五、發明說明（26 ) 分，亦即對應於分歧部62及合流部63的部分形成加厚部 7〇A，而由加厚部7〇A引導（承接）方向限制用滾輪25,自 走體20即可使分歧•合流路徑61側抬起而在左右方向傾 斜〇 另外，分歧•合流路徑61側（間隙S側的相反側）的車 輪21係由車輪支撐面12A支撐，而且方向限制用滾輪乃 會由分歧·合流側引導體71之分歧•合流側引導部7ib 引導’因此自走體20會在左右方向傾斜，而使固定路徑 5〇侧（間隙S侧）的車輪21相對於車輪支撐面11A成為浮 起狀態。 彳 因此’藉由使例如分歧·合流側引導體7 1之至少一部 刀’亦即對應於分歧部62及合流部63的部分形成加厚部 71A ’而由加厚部71A引導（承接）方向限制用滾輪25，自 走體20即可使其固定路徑5〇側抬起而在左右方向傾斜。 此處之分歧•合流側引導體7丨實際上係形成進入部較細， 越往内部而在分歧部62及合流部63變厚，於終端部分又 再變細的形狀。 以下說明上述第3實施例之作用。 自走體20於固定路徑50及分歧•合流路徑61上的行 敬係使其車輪21群由車輪支撐面11A、12A支撐引導而轉 動，並且使側導輪24由滾輪引導面11B、12B引導，藉此 受導執裝置10、10b的引導來進行。該時，於自走體2〇 側可透過與電線線路13、14相對向的拾波線圈39等，以 非接觸供電方式進行供電。 ---------------------^ ---------線 (請先閱讀背面之注意事項再填寫本頁) 參紙張尺度適用中國國豕標準（CNS)A4規格（21〇 X 297公爱） 26 312964 經濟部智慧財產局員工消費合作社印製 517184 A7 ^----------^___ 五、發明說明（27 ) --- 在這種狀態下的行駛當中，例如第j以圖的實線所 示L行駛於固定路徑50的自走體2〇在快要到達分歧部62 之前，檢測器40會檢測出被檢測體，然後判斷要繼續往寸 行駛或分歧行駛，並且使方向限制用滾輪25朝前進方向則 (行駛方向）側移動。 亦即，由於根據判斷的指示信號，會使驅動部3丨正反 驅動，亚且使凸輪滾子33透過撓帶傳動機構35而正反旋 轉。如此一來，支撐體28會透過嵌合於旋轉之螺旋凹槽 34的凸輪從動件37，由引導桿27支撐引導而朝左右方曰向 移動，藉此使方向限制用滾輪25透過支撐體28左右移動。 由此，方向限制用滚輪25可在對應於固定路徑側引導 體70的位置與對應於分歧•合流側引導體7丨的位置之間 左右移動。另外，在根據判斷給予指示信號時，方向限制 用滾輪25已朝前進方向側移動的時候，此指示信號會變成 取消狀態，驅動部3 1並不會驅動。 例如，當行駛於固定路徑5〇的自走體2〇判斷要繼續 往前行驶時，方向限制用滾輪25會如第15圖及第18a圖 的假想線所示，於行駛方向上朝左側移動。因此，方向限 制用滚輪25會變成由固定路徑側引導體70之固定路徑側 引導部7〇a引導，於是自走體20會如第18a圖的假想線C 所示不會進入分歧•合流路徑61，而是通過此分歧•合 流路控6 1之側方，然後繼續往前行駛。 另外’當行駛於固定路徑50的自走體20判斷要朝分 歧•合流路經61分歧行駛，以停止於目的之裝卸站64時， ^---------^ (請先閱讀背面之注意事項再填寫本頁) 本纸張尺艾適用中國(CNS)A4 (210 χ 297 27 312964 517184 經濟部智慧財產局員工消費合作社印製 A7 五、發明說明（28 ) 方向限制用滾輪25會如筮】」 ^ 第14圖、第15圖的實線、以及第 17圖、第18a圖的實線所 7不，朝右側移動。因此，方向限 制用滾輪25會從固定路徑 道士 側引導體70的分歧•合流側引 導部7〇b，被引導至分歧•人 側引導體7 1之分歧•合流 側引導部71b，於是自走體 一 ® 20會如弟18b圖的假想線D所 不，朝分歧·合流路徑61分歧行駛。 如上所述，可使在固宏 - 八+ \ 疋路徑5〇上行駛的自走體20朝 刀歧•合流路徑61分歧杆 订敬而停止於目的之裝卸站64。 因此，可利用保持裝置41之 心移戴機構進行物品之裝卸等。 而且，在該作業當中，於固一 、口疋路徑5〇上可供與分歧•合流 路位61之作業無關之其他自走體20行駛。 另外，在裝卸站64結束預期之作業的自走體2〇可從 合k部63朝固定路徑50上人、、ώ + ^ ^ σ 。亦即，方向限制用滾輪 2 5會從分歧•合流側引導體7 1 八 之刀歧•合流側引導部7 1 b， 被引導至固定路徑側引導體7〇 |守姐/ϋ之分歧•合流側引導部 7〇b，於是自走體2〇可朝固定路 崎仫5Q合流行駛。該時，在 固定路徑50行馱的自走體20與來自分歧分歧·合流路徑 61之自走體20會相互控制，以避免相互碰撞等。 如前所述，當行駿於固定路徑50的自走體2〇朝 合流路& 61分歧行駛時，首先如第i9a圖所示 之左前車輪21會跨過導執體u、nb間的間隙(缺口部 分)s而轉動’然後如第19b圖所示，使左後車輪2ι跨過 導執體11、11 b間的間隙S而轉動。 5 另外，如第18b圖的假想線D所示，當行駛於分歧 U氏張尺度適用中國國家標準（CNS)A4規格（21〇χ 297公釐） ---------------------訂·-------- (請先閱讀背面之注意事項再填寫本頁) 517184 A7 五、發明說明（29 ) 路徑61的自走體2〇朝固定路經5〇合流行歇時，首 先，自走體20之左前車輪21會跨過導軌體Ub、 間隙s而轉動’然後使左後車輪21跨過導執體叫、曰^ 間的間隙S而轉動。 此時，要跨過間陽：S的車輪21會掉進（從導執體脫 此間隙S，並且由於自走體2〇之自重而以車輪支撐面以 側的車輪21為中心產生向下的力矩，使自走體2G朝左側 下方快要傾斜。 然而，此時如第16b圖所示，與位在間隙s之車輪h 對應’且位於右方移動極限位置的方向限制用滾輪25係由 分歧·合流侧引導體71的加厚部71A引導，因此自走體 20會使其固定路# 5〇側（左側）抬起而在左右方向朝左側 上方傾斜，亦即，固定路徑5〇側的車輪21相對於車輪支 撐面12A會成為浮起狀態，而可承受自走體2〇側的向下 力矩。藉此即可一邊阻止自走體2〇朝左側下方傾斜，一邊 順暢地進行分歧行駛’於是車輪21可越過間隙s而不會 掉進間隙S。 胃Therefore, for example, by making a fixed path side guide body 70W ~ one less than the main -------- order --------- (Please read the precautions on the back before filling in this page ) This paper size applies to China National Standard (CNS) A4 specifications (210 X 297 issued) 25 312964 Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs 517184 A7 ------ -_B7 V. Description of the invention (26) The portion corresponding to the diverging portion 62 and the merging portion 63 forms a thickened portion 70A, and the direction-limiting roller 25 is guided (taken by) by the thickened portion 70A, and the self-propelled body 20 can diverge. The merging path 61 is lifted up and tilted in the left-right direction. In addition, the wheels 21 on the branching and merging path 61 side (opposite to the gap S side) are supported by the wheel support surface 12A, and the direction-limiting roller is divided and merged. Differences of the side guide body 71 • The confluence side guide portion 7ib guides' the self-propelled body 20 is inclined in the left-right direction, and the wheel 21 on the fixed path 50 side (clearance S side) is brought into a floating state with respect to the wheel support surface 11A. .彳 Thus, 'the thickened portion 71A is formed by forming at least one knife of the branching / combining-side guide body 71, that is, the portion corresponding to the branching portion 62 and the combining portion 63', and is guided (taken) by the thickened portion 71A. The direction-limiting roller 25 allows the self-propelled body 20 to lift the fixed path 50 side and tilt in the left-right direction. The diverging / converging-side guide body 7 丨 is actually formed into a thinner entrance portion, and becomes thicker at the diverging portion 62 and the converging portion 63 toward the inside, and then becomes thinner at the terminal portion. The operation of the third embodiment will be described below. The self-propelled body 20 on the fixed path 50 and the branching / converging path 61 causes its wheels 21 to be supported and guided by the wheel support surfaces 11A and 12A to rotate, and the side guide wheels 24 are guided by the roller guide surfaces 11B and 12B. By this, it is guided by the guidance device 10, 10b. At this time, the self-propelled body 20 can be powered by a non-contact power supply through a pickup coil 39 or the like opposed to the electric wires 13 and 14. --------------------- ^ --------- line (please read the notes on the back before filling this page) National Standard (CNS) A4 Specification (21〇X 297 Public Love) 26 312964 Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs 517184 A7 ^ ---------- ^ ___ V. Description of Invention (27) --- During driving in this state, for example, as shown by the solid line in the figure j, the self-propelled body 2 traveling on the fixed path 50. The detector 40 will detect that it is about to reach the branching section 62. Then, it is judged that the vehicle is to continue to travel in an inch or a different direction, and the direction-limiting wheel 25 is moved in the forward direction (traveling direction) side. That is, according to the instruction signal of the judgment, the driving unit 3 is driven forward and backward, and the cam roller 33 is rotated forward and backward through the flexible belt transmission mechanism 35. In this way, the support body 28 moves through the cam follower 37 fitted in the rotating spiral groove 34 and is supported and guided by the guide rod 27 to move leftward and rightward, thereby allowing the direction restricting roller 25 to pass through the support body. Move around 28. Thereby, the direction restricting roller 25 can move left and right between a position corresponding to the fixed-path-side guide body 70 and a position corresponding to the divergence / combination-side guide body 7 丨. In addition, when an instruction signal is given based on the judgment, when the direction-limiting wheel 25 has been moved to the forward direction side, this instruction signal will be canceled, and the driving unit 31 will not be driven. For example, when the self-propelled body 20 traveling on the fixed path 50 determines to continue to travel forward, the direction-limiting wheel 25 moves to the left in the traveling direction as shown by the imaginary lines in FIGS. 15 and 18a. . Therefore, the direction-limiting roller 25 will be guided by the fixed-path-side guide portion 70a of the fixed-path-side guide body 70, and the self-propelled body 20 will not enter the diverging / converging path as shown by the imaginary line C in FIG. 18a. 61, but through this divergence • Confluence Road Control 6 1 side, and then continue to drive forward. In addition, when the self-propelled body 20 traveling on the fixed path 50 judges that it is going to diverge • The confluence path diverges via 61 to stop at the destination loading and unloading station 64, ^ --------- ^ (Please read first Note on the back, please fill in this page again.) This paper ruler is applicable to China (CNS) A4 (210 χ 297 27 312964 517184 Printed by A7 of the Intellectual Property Bureau Staff Consumer Cooperatives of the Ministry of Economic Affairs V. Description of invention (28) Wheel for restricting direction 25筮 如 筮】 "^ The solid lines in Figs. 14 and 15 and the solid lines in Figs. 17 and 18a move to the right. Therefore, the direction-limiting wheel 25 will guide the Taoist side from the fixed path. The divergence of the body 70 • The confluence-side guide portion 70b is guided to the divergence. The human-side guide body 71 differs from the confluence-side guide portion 71b, so the self-propelled body 1 20 will be as shown by the imaginary line D in FIG. No, drive on the divergence / convergence path 61. As described above, the self-propelled body 20 traveling on the Guhong-8 ++ 疋 path 50 can be directed towards the divergence lever on the divergence / convergence path 61 and stopped for the purpose Loading and unloading station 64. Therefore, the heart transfer mechanism of the holding device 41 can be used to carry out the In addition, during this operation, other self-propelled bodies 20 that are not related to the operation of the divergent and merged road position 61 can be driven on the Guyi and Mouth Path 50. In addition, the expected operation is completed at the loading station 64 The self-propelled body 20 can move to the fixed path 50 from the k-part 63 toward the fixed path 50. That is, the direction-limiting roller 2 5 will diverge from the confluent-side guide body 7 1 Hachimanoki • The confluence-side guide 7 1 b is guided to the fixed-path-side guide body 7 〇 | Sister / ϋ ϋ • Confluence-side guide 708 b, the self-propelled body 20 can drive toward the rugged 5Q of the fixed road. At this time, the self-propelled body 20 traveling on the fixed path 50 and the self-propelled body 20 from the divergent divergence / convergence path 61 will control each other to avoid mutual collisions, etc. As described above, when the line is ahead of the fixed path 50 When the self-propelled body 20 travels towards the junction road & 61, the left front wheel 21 as shown in Fig. I9a will first cross the gap (notch portion) s between the guide bodies u and nb and then rotate as shown in Fig. 19b. As shown in the figure, the left rear wheel 2m is rotated across the gap S between the guide bodies 11, 11b. 5 In addition, as shown in FIG. 18b As shown by imaginary line D, when traveling on the divergent U-scale, the Chinese National Standard (CNS) A4 specification (21〇χ 297 mm) is applied ------------------- --Order · -------- (Please read the notes on the back before filling out this page) 517184 A7 V. Description of the invention (29) The self-propelled body of path 61 is moving toward the fixed path 50 °. At rest, first, the left front wheel 21 of the self-propelled body 20 will rotate across the guide body Ub, the gap s', and then the left rear wheel 21 will rotate across the gap S between the guide body and the body. At this time, it is necessary to cross the wheel of Sangyang: S's wheel 21 will fall (the gap S will be removed from the guide body, and due to the weight of the self-propelled body 20, the wheel supporting surface will be centered on the side of the wheel 21 as a downward direction. Moment, the self-propelled body 2G will tilt toward the lower left side. However, at this time, as shown in FIG. 16b, the direction-limiting roller 25 corresponding to the wheel h located in the gap s and located at the right movement limit position is formed by The thickened portion 71A of the divergent and confluent-side guide body 71 is guided, so the self-propelled body 20 raises its fixed path # 50 side (left side) and tilts upward and leftward in the left-right direction, that is, the fixed path 50 side The wheel 21 will be in a floating state with respect to the wheel support surface 12A, and can withstand the downward moment of the self-propelled body 20. This can smoothly diverge while preventing the self-propelled body 20 from tilting downward and downward on the left side. Drive 'so that the wheels 21 can cross the gap s without falling into the gap S. Stomach

再者，如第18a圖的假想線C所示，當固定路徑5Q 之自走體20不進入分歧•合流路徑61而在分歧部62及合 流部63的部分往前行駛時，首先，自走體2〇之右前車輪 21會越過導執體12、llb、Ub、12間的間隙s而轉動， 然後使右後車輪21越過導軌體12、ilb、lib、12間的間 隙S而轉動。 然而，此時，如第16 a圖所示，與位在間隙s之車輪 (請先閱讀背面之注*事項再填寫本頁) 訂 * 一 經濟部智慧財產局員工消費合作社印製 517184 經濟部智慧財產局員工消費合作社印製 A7 --- B7 ----------*---—____ 五、發明說明（如） 21對應，且位於左方移動極限位置的方向限制用滾輪25 係由固定路徑側引導體70之加厚部7〇A引導，因此自 體20會使其右側抬起而在左右方向朝右側上方傾斜，亦 即’分歧•合流路徑61側（右側）的車輪21相對於車輪支 撐面12A會成為浮起狀態，而可承受自走體2〇侧的向下 力矩。藉此即可一邊阻止自走體20朝右側下方傾斜，一邊 順暢地進行分歧行駛，於是車輪2 1可越過間隙s而不會 1掉進間隙S。 3 上述第3實施例中，自走體20係在橢圓環狀的固定路 徑50上循環行走。在此種情況下，若於行駛驅動裝置 之驅動軸沒有差動齒輪***，而在橢圓環狀之圓弧路徑部 (環道端）50a的彎曲行駛時，由於内外輪差，車輪21會打 ’月而產生摩擦聲。此時如第12圖所示，沿著圓弧路徑部 5〇a ’配置與固定路徑側引導體7〇及分歧•合流側引導體 7 1相同作用的圓弧側引導體72，即可使内外的車輪2 1皆 予起而進行彎曲行駛，因而可減少車輪2 1之打滑現象，並 且減少摩擦聲的產生。 而且如第12圖所示，根據使轉向路徑部65分歧•合 流於固定路徑50之一對直線狀路徑部間（一個部位或複數 個部位）的形式，則可使自走體20利用轉向路徑65轉向行 驶’因此可進行捷徑行駛，以縮短作業時間。在此種情況 下’也是只要沿著轉向路徑65配設轉向側引導體73即可。 如上述第3實施例所示，藉由縮小導執體11(1 lb)、12 (12b)的剖面’或是使車輪2i之車輪軸與行駛驅動裝置23 本紙張 _ 家辟（cns)A4 --^ ~ 裝--------訂---------線 (請先閱讀背面之注意事項再填寫本頁) 517184 經濟部智慧財產局員工消費合作社印製 A7 B7_______ 五、發明說明（) 之驅動軸形成相同的位準來配置驅動系統，可將形成使自 走體20之高度尺寸降低之構造，則可將行駛所需之佔有空 間縮小，而增加設置上的自由度。 如上述第3實施例所示，將導執裝置1〇〇〇b)配設於頂 板樑2的導執軛1具有設置構件的功能，同時可聯繫左右 一對導執體11(1 lb)、12(12b)，因此在施加荷重時，可抵 消分別產生於左右一對導執體11(llb)、12〇2b)的扭曲力 矩，以防止導執體ll(llb)、12(12b)扭曲。 如上述第3實施例所示，導執體u(Ub) ' 12(l2b)的 剖面形狀係形成簡單而小的形狀，以成為在功能上所需最 小限度之剖面積。因此，導執體l1(llb)、u(12b)可容易 地加以彎曲來使用。亦即，分歧部62、合流部〇、圓弧路 徑部50a、轉向路徑部65的導執體不需要製作專用的物 品，而可將直線用導執體配合自走體2〇之旋轉半徑加以彎 曲來使用，因此可大幅降低成本。 如上述第3實施例所示，藉由將方向限制用滾輪25 僅設置一個於台車本體22之中央部分，則自走體2Q側可 作成簡單而小型的構造。此外，方向限制用滾輪25係相對 於導執體ll(llb)、12(12b)朝左右移動的構造，且施加於 方向限制用滾輪25的荷重與方向限制用滾輪25之移動方 向相同，因此在行駛當中，不會發生方向限制用滾輪25 從導執體ll(llb)、12(12b)脫離的麻煩狀況。 繼之，根據第20圖來說明本發明之第4實施例。此處 之第20a至20f圖顯示本發明之各種實施形態（配置另 ------------裝--------訂---------線 (請先閱讀背面之注意事項再填寫本頁) 本紙張尺度適用中國國家標準（CNS)A4規格（210x 297公釐） 31 312964 517184Furthermore, as shown by the imaginary line C in FIG. 18a, when the self-propelled body 20 of the fixed path 5Q does not enter the divergence / convergence path 61 and travels forward at the divergence portion 62 and the confluence portion 63, first, the self-propelled The right front wheel 21 of the body 20 will rotate over the gap s between the guide bodies 12, 11b, Ub, and 12, and then the right rear wheel 21 will rotate over the gap S between the guide body 12, ilb, lib, and 12. However, at this time, as shown in Figure 16a, with the wheel in the gap s (please read the note on the back * Please fill in this page) Order * Printed by the Intellectual Property Bureau Employee Consumer Cooperative of the Ministry of Economic Affairs 517184 Ministry of Economic Affairs Printed by the Intellectual Property Bureau employee consumer cooperative A7 --- B7 ---------- * ----____ V. Description of the invention (such as) 21 Correspondence, and it is located at the left limit position The roller 25 is guided by the thickened portion 70A of the fixed-path-side guide body 70. Therefore, the self-body 20 raises its right side and tilts upward in the left-right direction toward the right side, that is, the 'branch / convergence path 61 side (right side)' The wheel 21 will be in a floating state with respect to the wheel support surface 12A, and can withstand a downward moment on the self-propelled body 20 side. With this, while the self-propelled body 20 can be prevented from tilting to the lower right side, the branching can be smoothly performed, so that the wheels 21 can pass through the gap s without falling into the gap S. 3 In the third embodiment described above, the self-propelled body 20 travels cyclically on a fixed path 50 having an elliptical ring shape. In this case, if there is no differential gear inserted in the drive shaft of the driving device, and when the elliptical ring-shaped arc path portion (round end) 50a bends, the wheel 21 will hit due to the difference between the inner and outer wheels. Friction sounds from the moon. At this time, as shown in FIG. 12, the arc-side guide body 72 having the same function as the fixed-path-side guide body 70 and the branching / merging-side guide body 71 can be arranged along the arc-path portion 50a ′, so that Both the inner and outer wheels 21 are lifted to perform curved driving, thereby reducing the slippage of the wheels 21 and reducing the generation of friction noise. Furthermore, as shown in FIG. 12, according to the form in which the turning path portion 65 diverges and merges between one pair of linear path portions (one or a plurality of locations) of the fixed path 50, the self-propelled body 20 can use the turning path. 65 Steering Drive 'therefore enables shortcut driving to reduce working time. In this case, it is sufficient to dispose the steering-side guide body 73 along the steering path 65. As shown in the third embodiment described above, by reducing the cross-sections of the guide bodies 11 (1 lb), 12 (12b) 'or by making the wheel axles and driving devices of the wheels 2i 23 pieces of paper _ 家 辟 (cns) A4 -^ ~ Install -------- Order --------- line (please read the precautions on the back before filling this page) 517184 Printed by the Consumers' Cooperative of Intellectual Property Bureau of the Ministry of Economic Affairs A7 B7_______ V. Explanation of the invention () The driving shafts of () are formed at the same level to configure the driving system, and the structure that reduces the height and size of the self-propelled body 20 can be formed, which can reduce the space required for driving and increase the Degrees of freedom. As shown in the third embodiment described above, the guide yoke 1 in which the guide device 100b) is disposed on the top plate beam 2 has a function of setting a member, and can contact a pair of left and right guide bodies 11 (1 lb). And 12 (12b), so when the load is applied, the torsional moments generated by the left and right pair of guides 11 (llb) and 12〇2b) can be offset to prevent the guides 11 (llb) and 12 (12b). distortion. As shown in the third embodiment described above, the cross-sectional shape of the guide body u (Ub) '12 (l2b) is formed into a simple and small shape so as to have the minimum cross-sectional area functionally required. Therefore, the guide bodies 11 (11b) and u (12b) can be easily bent and used. In other words, the guides of the branching portion 62, the confluence portion 0, the arc path portion 50a, and the turning path portion 65 do not need to make a special article, but a guide for a straight line can be used in conjunction with a rotation radius of the self-propelled body 20. It can be used by bending, so the cost can be greatly reduced. As shown in the above-mentioned third embodiment, by providing only one direction-limiting wheel 25 at the center portion of the trolley body 22, the self-propelled body 2Q side can be made simple and compact. In addition, the direction restricting roller 25 is a structure that moves leftward and rightward relative to the guide bodies 11 (11b) and 12 (12b), and the load applied to the direction restricting roller 25 is the same as the direction of movement of the direction restricting roller 25. During traveling, the troublesome situation that the direction-limiting wheel 25 is detached from the guide bodies 11 (11b) and 12 (12b) does not occur. Next, a fourth embodiment of the present invention will be described with reference to FIG. 20. Figures 20a to 20f here show various embodiments of the present invention (the configuration is different ------------ installation -------- order --------- line (Please read the precautions on the back before filling this page) This paper size is applicable to China National Standard (CNS) A4 (210x 297 mm) 31 312964 517184

五、發明說明（32 ) 經濟部智慧財產局員工消費合作社印制衣 外在第20b至20f圖申雖然省略了轉向路徑65，但此轉向 路徑65可以不設置，亦可設置於一個部位或複數個部位。 第20a圖係於橢圓環狀之固定路徑5〇的兩直線狀路徑 部分，分別有複數個分歧•合流路徑61分歧·合流的形式。 第20b圖係僅於橢圓環狀之固定路徑5〇的一方直線狀 路fe部分’有複數個（單數個）分歧•合流路徑61分歧•合 流的形式。 第20c圖係於橢圓環狀之固定路徑5〇的一方直線狀路 徑部分（或兩直線狀路徑部分），作成有具有端部之分歧路 徑61 a分歧的形式。此處到達分歧路徑61 a之終端的自走 體20可利用升降機構（升降機）68移動至其他樓層（上層、 下層）°另外’具有端部的分歧路徑61a亦可設置於複數個 部位。 第20d圖係於橢圓環狀之固定路徑5〇的一方直線狀路 徑部分（或兩直線狀路徑部分），設具有端部之分歧路徑 分歧，而且從分歧路徑613依序有單數或複數個具有端部 之分歧路徑61 a分歧的形式。另外，具有端部之分歧路後 6 1 a亦可設置於複數個部位。 第2 0e圖係於橢圓環狀之固定路徑5〇的一方直線狀路 徑部分（或兩直線狀路徑部分），有具有端部之合流路徑61匕 合流的形式。在此，於合流路徑61b的始端，來自其他樓 層（上層、下層）的自走體20可利用升降機構（升降機）68而 移動。另外，具有端部之合流路徑61b亦可設置於複數個 部位。 本紙張尺度適用中國國家標準(CNS)A4規格⑵〇 X 297公爱） ^^ -------------裝.-------訂·--------線 (請先閱讀背面之沒意事項再填寫本頁) 517184 經 濟 部 智 彗 財 產 局 員 X 消 費 合 作 社 印 製 A7 五、發明說明（33 ) 第20f圖係於橢圓環狀之固宏 一 U弋路徑50的一方直線狀路 徑部分（或兩直線狀路徑部分），右 刀；百具有端部之合流路徑61b 合流’而且於合流路徑6 1 b依库古w ^ 攸序有早數或複數個具有端部 之合流路徑61 b合流的形式。另& ' 另外，具有端部之合流路徑 61b亦可設置於複數個部位α 如上述各實施例所示，由於係利用左右-對導軌體u ⑴a)(m)、12(i2a)(12b)構料執裝置1G⑽)（⑽），所 以此導執裝置10(10a)(10b)可樺書本 )j僙頁全長形成間隙S，並不會 因為此間隙S所形成的上下方向 心貝逋部而妨礙空氣的流 動，因此即使是使潔淨空氣往下吹的淨化室也適合採用。 在上述各實施例中，移動體係顯示以無接觸供電方式 進行供電的自走體20,但也可以是以接觸供電方式進行供 電的自走體20。而且，也可以暑你 疋從驅動鏈條等他驅動裝置 賦予移動力的台車形式之移動體等。 t 丹有，仃敬驅動亦可 以是線性馬達驅動形式。 上述各實施例係顯示將保持裝置41設置於自走體 成為懸吊狀的形式，但亦可以是例如將保持裝置立設於在 地板側行駛之台車（移動體）的形式（隨動形式）等。 上述各實施例係採用直線側引導體15、16之引導部 15a、15b、16a、16b、分歧•合流側引導趙17之引導構件 18、19之引導部18b、19b、以及固定路徑側弓丨導體之 引導部70a、70b、分歧·合流側引導體了…丨導部川 2為引導面’ ^方向限制構件係採用方向限制用滚輪 ，，但疋由引導面引導的方向限制用構件亦可為可自由滑 本紙張cp關冢鮮（CNS)A4規格（―X 297公髮 _ ’ 312964 --------訂---------^ Aw. (請先閱讀背面之注意事項再填寫本頁) 517184V. Description of the invention (32) Outside of the printed clothing of the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs, Figures 20b to 20f. Although the turning path 65 is omitted, this turning path 65 may not be provided, or it may be provided at one location or plural Locations. Fig. 20a shows two straight path portions of the elliptical ring-shaped fixed path 50, each of which has a plurality of branching / converging paths 61 branching and converging. Fig. 20b is a form in which a plurality of (singular) branching / converging paths 61 are branching / converging only on one side of a linear path fe 'of an elliptical ring-shaped fixed path 50. Fig. 20c shows a linear path portion (or two linear path portions) on the elliptical ring-shaped fixed path 50, and a branch path 61a having an end portion is formed. Here, the self-propelled body 20 reaching the end of the branching path 61a can be moved to other floors (upper and lower floors) by using a lifting mechanism (elevator) 68. In addition, the branching path 61a having an end portion may be provided at a plurality of locations. FIG. 20d is a part of a linear path (or two linear paths) of a fixed path 50 of an elliptical ring shape. It is assumed that a divergent path having end portions diverges, and a singular or plural number has sequentially from the divergent path 613. The divergent path at the end 61a is a divergent form. In addition, 6 1 a after the branching path having the end portion may be provided at a plurality of locations. Fig. 20e is a linear path portion (or two linear path portions) on the elliptical ring-shaped fixed path 50, and has a confluence path 61 having an end portion. Here, at the beginning of the confluence path 61b, the self-propelled bodies 20 from other floors (upper and lower floors) can be moved by a lifting mechanism (elevator) 68. In addition, the merging path 61b having an end portion may be provided at a plurality of locations. This paper size is applicable to China National Standard (CNS) A4 specification ⑵〇X 297 public love) ^^ ------------- install .------- order · ----- --- line (please read the unintentional matter on the back before filling in this page) 517184 Member of the Intellectual Property Bureau of the Ministry of Economic Affairs X Printed by Consumer Cooperative A7 V. Description of the invention (33) Figure 20f is in the shape of an elliptical ring.的 One linear path part (or two linear path parts) of path 50, right blade; one of the confluence paths 61b with confluence at the end, and the confluence path 6 1 b has an early or plural number in accordance with Kugu ancient w ^ Each has a confluence path 61 b in the form of confluence. In addition & 'In addition, the confluence path 61b having an end portion may also be provided at a plurality of locations α, as shown in the above embodiments, because the left-right paired rail body u ⑴a) (m), 12 (i2a) (12b ) Material holding device 1G⑽) (⑽), so this guide device 10 (10a) (10b) can be a birch book) j 僙 The full length of the page forms a gap S, and it will not be because of the gap S formed by the gap S The crotch prevents air from flowing, so it is suitable for clean rooms where clean air is blown down. In each of the above embodiments, the mobile system shows the self-propelled body 20 that supplies power by means of a contactless power supply, but the self-propelled body 20 that supplies power by means of a contact power supply may also be used. In addition, you can also use a moving body in the form of a trolley to give moving power from a driving chain and other driving devices. t Dan has it. Respect drive can also be a linear motor drive. Each of the above-mentioned embodiments shows a form in which the holding device 41 is mounted on the self-propelled body in a suspended shape, but it may also be a form (following type) in which the holding device is erected on a trolley (moving body) running on the floor side. Wait. Each of the above-mentioned embodiments uses the guide portions 15a, 15b, 16a, 16b of the linear side guides 15, 16, the guide portions 18b, 19b of the guide member 18, 19 of the divergent and confluent side to guide Zhao 17, and the fixed path side bow. The conductor guides 70a, 70b, and the divergent and confluent side guides are ... 丨 The guide 2 is used as the guide surface. ^ The direction-limiting member is a direction-limiting roller, but the direction-limiting member guided by the guide surface may be used. For freely slipping paper cp Guanzuanxian (CNS) A4 specifications (―X 297 public __ 312964 -------- order --------- ^ Aw. (Please read the back first (Notes to fill out this page)

五、發明說明（34 ) 而方向限 動的突起體。此外’也可以是弓丨導面為齒執面 制用滾輪25為方向限制用副齒輪的組人。 上述各實施例係由檢測器40檢測:被檢測體而加以 判斷’然後透過左右移動機構3〇使方向限制用滾輪25左 右移動’但亦可以是在通過分歧•合流部位後，由檢測器 40檢測出被檢測體，再使方向限制用滚輪25的位置回到 最初之狀態（重設）的形式。 上述各實施例係將保持裝置4 1設在自走體2 〇之台車 本體22間成為懸吊狀態，並且於保持裝置4 1内配設有朝 左右方向的移載機構，但亦可以是於保持裝置4 1配設有上 下方向之移載機構的形式。另外，亦可採用搭載有僅用來 放置物品之荷重台的形式或只是直接放置物品的形式等各 種形式。 --------^---------線 (請先閱讀背面之注意事項再填寫本頁) 經濟部智慧財產局員工消費合作社印製 本紙張尺度適用中國國家標準（CNS)a4規格（210χ 297公釐） 34 312964V. Description of the invention (34) A protrusion whose direction is restricted. In addition, it may be a group of people whose guide surface is a toothed surface and the roller 25 for making a direction is a secondary gear for restricting the direction. Each of the above-mentioned embodiments is detected by the detector 40: the subject is judged, and then the direction-limiting roller 25 is moved left and right through the left-right movement mechanism 30. However, after passing through the divergence and confluence part, the detector 40 The object is detected, and the position of the direction-limiting wheel 25 is returned to the original state (reset). In each of the above-mentioned embodiments, the holding device 41 is suspended between the trolley body 22 of the self-propelled body 20 and the left-right transfer mechanism is arranged in the holding device 41, but it may be The holding device 41 is provided with a form of a transfer mechanism in the vertical direction. In addition, various forms such as a form equipped with a load table for placing articles only, or a form for placing articles directly thereon may be used. -------- ^ --------- line (please read the notes on the back before filling out this page) The paper size printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs applies this national paper standard ( CNS) a4 specification (210 × 297 mm) 34 312964

Claims (1)

517184 A8B8C8D8 經濟部智慧財產局員工消費合作社印製 六、申請專利範圍 1· -種搬送設備，係由導執裝置，以及由此導軌裝置支撐 引導而可在固定路徑上自由移動的移動體所構成者， 其特徵在於：前述導執裝置係由左右一對導執體所 構成’在兩導執體分別形成有向上的車輪支撐面及向内 的滾輪引導面，刖述固定路經係由直線狀路徑部及分 歧•合流路徑部所構成，在這些路徑部所形成的分歧· 合流部位設有沿著直線狀路徑部的直線側引導體，以及 沿著分歧•合流路徑部的分歧•合流側引導體；於前述 移動體則設有可由前述車輪支撐面支撐引導的車輪，可 由前滾輪引導面引導的側導輪，以及可由前述引導體之 橫向引導部引導的方向限制用構件；此方向限制用構件 係設成為可藉由左右移動機構，在對應於直線側引導體 的位置與對應於分歧•合流側引導體的位置之間左右自 由移動。 2. 如申請專利範圍第1項之搬送設備，其中， 於平行狀之一對直線狀路徑部間配置有分歧•合流 路徑部，兩直線狀路徑部的直線側引導體係相對於平行 側，在外側形成有直線側引導部，在内側形成有分歧· 合流側引導部，分歧•合流側引導體係由斷開的分歧側 引導構件及合流側引導構件所構成，並且使與分歧•合 流側引導部相連的分歧側引導部及合流側引導部朝向 不同的方向，斷開部係將從分歧側引導部移動而來的方 向限制用構件引導至合流側引導部。 3. 如申請專利範圍第1項或第2項之搬送設備，其中， _本紙張尺度適用中國國家標準(CNS)A4規格（210 X 297公爱1 35 Tl2964 ------------變------—tr--------- (請先閲讀背面之注意事項再填寫本頁) 517184 A8 B8 C8 D8 六、申請專利範圍 該方向限制用構件係經由支撐體設置成可左右自 由移動’該左右移動機構係由驅動部以及利用此驅動部 之正反驅動使支撐體左右移動的驅動傳達部所構成，而 且在此驅動傳達部設有傳達路徑之接觸•斷開裝置。 4·如申請專利範圍第3項之搬送設備，其中， 5又有用來保持已到達左右移動極限位置之支撐體 的吸附機構。 > 5. —種搬送設備，係由導執裝置，以及由此導執裝置支撐 引導而可在固定路徑上自由移動的移動體所構成者， 其特徵在於：前述導執裝置係由形成間隙而配設的 左右一對導執體所構成，在兩導執體分別形成有向上的 車輪支撐面及向内的滾輪引導面，在進入對於前述固定 路徑分歧•合流之分歧•合流路徑的分歧·合流部，前 述左右一對導執當中位於分歧•合流路徑側的導執體係 形成間隙而被斷開，同時從該斷開端部將分歧•合流路 徑側的導執體配設成連績狀，在前述分歧•合流部設有 沿著固定路徑的固定路徑側引導體，以及沿著分歧•合 流路徑的分歧•合流侧引導體，於前述移動體則設有可 由前述車輪支撐面支撐引導的車輪，可由前滾輪引導面 引導的側導輪，以及可由前述引導體之橫向引導部引導 的方向限制用構件；此方向限制用構件係設成可藉由左 右移動機構，在對應於固定路徑側引導體的位置與對應 於分歧•合流側引導體的位置之間左右自由移動；當方 向限制用構件在分歧•合流部受到引導體的引導時，間 閲 背 面 之 注 意 事 項 再 % 1 ；裝 本 頁 訂 經濟部智慧財產局員工消費合作社印製 本紙張尺度適用中國國家標準（CNS)A4規格（21〇 x 297公釐） 36 312964 517184 --—_________D8 __ 六、申請專利範圍 隙側的車輪相對於車輪支樓面會形成浮起狀態。 6·如申請專利範圍第5項之搬送設備，其中， 間隙側之相反側的車輪係由車輪支撐面支撐，而且 #向限制用構件係由引導體引導而由此使移動體向左 右方向傾斜’使間隙側之車輪相對於車輪支撐面形成浮 起狀態。 7·如申請專利範圍第6項之搬送設備，其_， 該引導體的至少一部分係形成用來使移動體向左 右方向傾斜而予以承接的加厚部。 (請先閲讀背面之注意事項再填寫本頁) 經濟部智慧財產局員工消費合作社印製 本紙張尺度適用中國國家標準（CNS)A4規格（210 x 297公釐） 37 312964517184 A8B8C8D8 Printed by the Consumers' Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs 6. Application for patent scope 1 ·-A type of conveying equipment consisting of a guide device and a mobile body supported by the guide device and capable of freely moving on a fixed path It is characterized in that the above-mentioned guide device is composed of a pair of left and right guide bodies, and an upward wheel support surface and an inward roller guide surface are respectively formed on the two guide bodies, and the fixed path is described by a straight line. The path section and the branching / converging path section are formed. The branching and converging sections formed in these path sections are provided with linear side guides along the linear path section, and the branching / converging side along the branching / converging path section. A guide body; the moving body is provided with a wheel that can be supported and guided by the wheel support surface, a side guide wheel that can be guided by the front roller guide surface, and a direction restricting member that can be guided by the lateral guide portion of the guide body; this direction restriction The component system is designed so that it can be moved by the left-right movement mechanism at the position corresponding to the linear side guide body About freely move between the guide body. 2. As for the conveying equipment in the first patent application scope, a branching / converging path portion is arranged between one pair of linear path portions in parallel, and the linear side guide system of the two linear path portions is opposite to the parallel side. A straight side guide is formed on the outer side, and a divergent and merged side guide is formed on the inner side. The divergent and merged side guide system is composed of a disconnected divergent side guide member and a merged side guide member, and is divided into the divergent and merge side guides. The connected branch-side guides and the merge-side guides face different directions, and the disconnecting portion guides the direction-limiting member moved from the branch-side guides to the merge-side guide. 3. If you apply for the transport equipment of item 1 or item 2 of the patent scope, among which, _ this paper size applies to China National Standard (CNS) A4 specifications (210 X 297 Public Love 1 35 Tl2964 --------- --- Change -------- tr --------- (Please read the precautions on the back before filling this page) 517184 A8 B8 C8 D8 VI. Application for patent scope It can be moved freely from side to side via the support body. The left and right movement mechanism is composed of a drive unit and a drive transmission unit that moves the support body left and right by the forward and reverse drive of the drive unit. The drive transmission unit is provided with a transmission path. Contact and disconnection device. 4. If there is a transfer device in the scope of patent application No. 3, among them, 5 has a suction mechanism for holding the support that has reached the limit position of left and right movement. ≫ 5.-A kind of transfer device, The guide device, and a mobile body that can be freely moved on a fixed path by the guide device support and guidance, is characterized in that the above-mentioned guide device is a pair of left and right guide bodies arranged to form a gap. Composition, formed separately in the two guide bodies When the upward wheel support surface and the inward roller guide surface enter the diverging / converging divergence / converging diverging / converging part of the fixed path, the guidance system on the divergent and converging path side of the left and right guides is located. A gap is formed and it is disconnected. At the same time, the guide on the branching / merging path side is arranged in a continuous pattern from the disconnected end. The branching / merging part is provided with a fixed path side guide body along a fixed path. And the diverging and converging side guides along the diverging and converging paths, the moving body is provided with wheels that can be supported and guided by the wheel support surfaces, side guides that can be guided by the front roller guide surfaces, and lateral directions that can be guided by the guides. A direction-limiting member guided by the guide portion; this direction-limiting member is provided to be capable of freely moving left and right between a position corresponding to the fixed-path-side guide body and a position corresponding to the divergent and merge-side guide body by a left-right moving mechanism. ; When the direction-limiting member is guided by the guide body at the diverging and confluence part, the precautions on the back of the time reading are again% 1 ; This page is bound to print by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs. The paper size is applicable to the Chinese National Standard (CNS) A4 (21 × 297 mm) 36 312964 517184 ---_________ D8 __ VI. Application scope The wheels of the vehicle will be in a floating state with respect to the wheel support surface. 6 · For example, the conveying equipment of item 5 of the patent application scope, wherein the wheels on the opposite side of the gap side are supported by the wheel support surface, and the #directional restriction member system Guided by the guide body, thereby tilting the moving body to the left-right direction, the wheels on the gap side are brought into a floating state with respect to the wheel support surface. 7. If the conveying equipment according to item 6 of the patent application scope, at least a part of the guide body is formed as a thickened portion for inclining the moving body to the left and right directions. (Please read the notes on the back before filling out this page) Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs This paper size applies to China National Standard (CNS) A4 (210 x 297 mm) 37 312964